Surgical tools configured for interchangeable use with different controller interfaces

ABSTRACT

A surgical tool configured to be interchangeably attached to a first controller interface and a second controller interface that is different from the first controller interface is disclosed.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of an example of one form of roboticcontroller according to one aspect of this disclosure;

FIG. 2 is a perspective view of am example of one form of roboticsurgical arm cart/manipulator of a robotic surgical system operablysupporting a plurality of surgical tool according to one aspect of thisdisclosure;

FIG. 3 is a side view of the robotic surgical arm cart/manipulatordepicted in FIG. 2 according to one aspect of this disclosure;

FIG. 4 is a rear perspective view of a surgical tool embodimentaccording to one aspect of this disclosure;

FIG. 5 is a perspective view of a distal portion of the surgical tool ofFIG. 4 in an articulated position with the anvil thereof in an openposition;

FIG. 6 is an exploded assembly perspective view of a distal portion ofthe surgical tool of FIGS. 4 and 5;

FIG. 7 is a cross-sectional perspective view of a portion of an elongateshaft assembly of the surgical tool of FIGS. 4-6;

FIG. 8 is a rear perspective view of a portion of a surgical endeffector and articulation joint of the surgical tool of FIGS. 4-7;

FIG. 9 is a cross-sectional top view of portions of the surgical endeffector and elongate shaft assembly of the surgical tool of FIGS. 4-8;

FIG. 10 is a top view of portions of an articulation system and thesurgical end effector of the surgical tool of FIGS. 4-9 wherein thesurgical end effector is in an articulated configuration;

FIG. 11 is another top view of portions of the articulation system andthe surgical end effector of the surgical tool of FIGS. 4-10 wherein thesurgical end effector is in an unarticulated configuration;

FIG. 12 is another top view of portions of the articulation system andthe surgical end effector of the surgical tool of FIGS. 4-11 wherein thesurgical end effector is in an unarticulated configuration;

FIG. 13 is another top view of portions of the articulation system andthe surgical end effector of the surgical tool of FIGS. 4-12 wherein thesurgical end effector has been articulated to the left;

FIG. 14 is another top view of portions of the articulation system andthe surgical end effector of the surgical tool of FIGS. 4-13 wherein thesurgical end effector has been articulated to the right;

FIG. 15 is another top view of portions of the articulation system andthe surgical end effector of the surgical tool of FIGS. 4-14 wherein thesurgical end effector has been articulated to the left;

FIG. 16 is a perspective view of a portion of the elongate shaftassembly of the surgical tool of FIGS. 4-15 with the proximal couplerportions thereof in their respective neutral coupling positions;

FIG. 17 is a cross-sectional side view of a portion of the elongateshaft assembly of FIG. 16;

FIG. 18 is a perspective view of a proximal end portion of the surgicaltool of FIGS. 4-15;

FIG. 19 is a cross-sectional side view of the proximal portion of thesurgical tool of FIG. 18;

FIG. 20 is a side elevational view of a proximal end of the elongateshaft assembly of FIGS. 16 and 17 and a spacing lock embodiment shown incross-section and in a locked position;

FIG. 21 is a cross-sectional end view of the elongate shaft assembly andspacing lock of FIG. 20 taken along line 21-21 in FIG. 20;

FIG. 22 is an exploded side assembly view of a portion of a surgicaltool and a controller interface comprising a handheld surgical system;

FIG. 23 is an exploded perspective assembly view of the surgical tooland handheld surgical system of FIG. 22;

FIG. 24 is a cross-sectional view of a proximal portion of the surgicaltool attached to the handheld surgical system of FIGS. 22 and 23;

FIG. 25 is another cross-sectional view of a portion of the surgicaltool and handheld surgical system of FIG. 24;

FIG. 26 is a side elevational view of a proximal end of the elongateshaft assembly and spacing lock of FIG. 20 with the spacing lock shownin cross-section and in an unlocked position;

FIG. 27 is a cross-sectional end view of the elongate shaft assembly andspacing lock of FIG. 26 taken along line 27-27 in FIG. 26;

FIG. 28 is an exploded perspective assembly view of a portion of thesurgical tool of FIGS. 4-15 and a second controller interface comprisinga tool holder portion of a robotically-controlled system according toone aspect of this disclosure;

FIG. 29 is a cross-sectional view of a portion of the surgical tool ofFIG. 28 attached to the tool holder portion of FIG. 28;

FIG. 30 is a perspective view of a surgical instrument assemblycomprising a sterile adapter, a control assembly, and a shaft assembly;

FIG. 31 is a bottom perspective view of the surgical instrument assemblyof FIG. 30;

FIG. 32 is a bottom plan view of the sterile adapter of the surgicalinstrument assembly of FIG. 30, wherein the sterile adapter comprises aplurality of drive inputs;

FIG. 33 is a partially exploded view of the surgical instrument assemblyof FIG. 30;

FIG. 34 is perspective view of the sterile adapter and the controlassembly of the surgical instrument assembly of FIG. 30;

FIG. 35 is a partial cross-sectional view of the control assembly of thesurgical instrument assembly of FIG. 30;

FIG. 36 is a cross-sectional view of the control assembly and thesterile adapter of the surgical instrument assembly of FIG. 30;

FIG. 37 is a perspective view of the control assembly of the surgicalinstrument assembly of FIG. 30 with various components removed for thepurpose of illustration;

FIG. 38 is a perspective view of the shaft assembly and variouscomponents of the control assembly of the surgical instrument assemblyof FIG. 30;

FIG. 39 is a detailed view of the shaft assembly and articulation drivecomponents of the control assembly of the surgical instrument assemblyof FIG. 30;

FIG. 40 is a partially exploded view of the control assembly and thesterile adapter of the surgical instrument assembly of FIG. 30;

FIG. 41 is a partial, cross-sectional perspective view of a portion ofthe shaft assembly of the surgical instrument assembly of FIG. 30;

FIG. 42 is a detailed view of articulation drivers of the controlassembly of the surgical instrument assembly of FIG. 30;

FIG. 43 is a perspective view of the shaft assembly of the surgicalinstrument assembly of FIG. 30;

FIG. 44 is a partial perspective view of the shaft assembly of thesurgical instrument assembly of FIG. 30 and various components of anarticulation drive system of the control assembly illustrated with somecomponents removed for the purpose of illustration;

FIG. 45 is a partial plan view of the surgical instrument assembly ofFIG. 30 highlighting various components within the surgical instrumentassembly of FIG. 30;

FIG. 46 is a partial plan view of the surgical instrument assembly ofFIG. 30 highlighting various components within the surgical instrumentassembly of FIG. 30;

FIG. 47 is a plan view of the shaft assembly of the surgical instrumentassembly of FIG. 30 illustrated in an unarticulated configuration;

FIG. 48 is a plan view of the shaft assembly of the surgical instrumentassembly of FIG. 30 illustrated in a first articulated configuration;

FIG. 49 is a plan view of the shaft assembly of the surgical instrumentassembly of FIG. 30 illustrated in a second unarticulated configuration;

FIG. 50 is a partial perspective view of the surgical instrumentassembly of FIG. 30 illustrated with some components removed for thepurpose of illustration;

FIG. 51 is a detailed view of the shaft assembly and articulation drivecomponents of the control assembly of the surgical instrument assemblyof FIG. 30;

FIG. 52 is a partial perspective view of the surgical instrumentassembly of FIG. 30 illustrated with some components removed for thepurpose of illustration;

FIG. 53 is a plan view of the bottom of a closure drive system of thesurgical instrument assembly of FIG. 30;

FIG. 54 is a perspective view of the bottom of the closure drive systemof FIG. 53;

FIG. 55 is a partial cross-sectional view of a spiral cam gear and aclosure body pin of the closure drive system of FIG. 53 illustrated in afully unclamped configuration;

FIG. 56 is a partial cross-sectional view of the spiral cam gear and theclosure body pin of the closure drive system of FIG. 55 illustrated in apartially clamped configuration;

FIG. 57 is a partial cross-sectional view of the spiral cam gear and theclosure body pin of the closure drive system of FIG. 55 illustrated in afully clamped configuration;

FIG. 58 is an elevational view of the closure drive system of FIG. 53illustrated in the fully unclamped configuration of FIG. 55;

FIG. 59 is an elevational view of the closure drive system of FIG. 53illustrated in the fully clamped configuration of FIG. 57;

FIG. 60 is a perspective view of a firing drive lock system of thesurgical instrument assembly of FIG. 30 illustrated in a locked state;

FIG. 61 is a perspective view of the firing drive lock system of FIG. 60illustrated in an unlocked state;

FIG. 62 is a top view of the firing drive lock system of FIG. 60illustrated in the locked state;

FIG. 63 is a top view of the firing drive lock system of FIG. 60illustrated in the unlocked state;

FIG. 64 is a partial cross-sectional view of the control assembly, thefiring drive lock of FIG. 60, and the firing drive system of thesurgical instrument assembly of FIG. 30;

FIG. 65 is a partial perspective view of a closure and firing locksystem of the shaft assembly of the surgical instrument assembly of FIG.30;

FIG. 66 is an exploded view of the dual closure and firing lock systemof FIG. 65;

FIG. 67 is a partial cross-sectional view of the dual closure and firinglock system of FIG. 65 illustrated in configuration where a firing rodof the shaft assembly is locked;

FIG. 68 is a partial cross-sectional view of the dual closure and firinglock system of FIG. 65 illustrated in a configuration where the firingrod of FIG. 67 is unlocked;

FIG. 69 is a partial cross-sectional view of the dual closure and firinglock system of FIG. 65 illustrated in a configuration where the firingrod of FIG. 67 is unlocked and partially advanced and a closure tube ofthe shaft assembly is locked;

FIG. 70 is a perspective view of the control assembly and the sterileadapter of the surgical instrument assembly of FIG. 30, wherein thecontrol assembly comprises a manually-operated closure drive actuator;

FIG. 71 is a perspective view of a firing bailout of the surgicalinstrument assembly of FIG. 30 illustrated with some components removedfor the purpose of illustration;

FIG. 72 is a perspective view of the closure drive system of the FIG.53, wherein the closure drive system comprises a closure drive bailout;

FIG. 73 is an elevational view of the closure drive system of FIG. 53,wherein the closure drive bailout is illustrated in a partially bailedout configuration;

FIG. 74 is an elevational view of the closure drive system of FIG. 53,wherein the closure drive bailout is illustrated in a fully bailed outconfiguration;

FIG. 75 is a partial elevational view of the surgical instrumentassembly of FIG. 30 illustrated with some components removed for thepurpose of illustration;

FIG. 76 is a cross-sectional view of the surgical instrument assembly ofFIG. 30 taken along line 76-76 in FIG. 75;

FIG. 77 is a cross-sectional view of the surgical instrument assembly ofFIG. 30, wherein the closure drive bailout of FIG. 72 is illustrated inthe fully bailed out configuration;

FIG. 78 is a plan view of a closure drive system comprising twodifferent drive input arrangements and a spiral cam gear;

FIG. 79 is a perspective view of the closure drive system of FIG. 78;

FIG. 80 is a plan view of a closure drive system comprising twodifferent drive input arrangements and a spiral cam gear;

FIG. 81 is a perspective view of the closure drive system of FIG. 80;

FIG. 82 is a graph representing a cam-gear-output-based closure drivesystem utilizing dissimilar drive input arrangements;

FIG. 83 is a graph representing a relationship between an angle of a camgear output and a difference in angles of the dissimilar drive inputarrangements of FIG. 82;

FIG. 84 is a perspective view of a closure drive system utilizingvarious components of the closure drive system of the surgicalinstrument assembly of FIG. 30;

FIG. 85 is a perspective view of the closure drive system of FIG. 84;and

FIG. 86 is a plan view of the bottom of the closure drive system of FIG.84.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 19, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/847,306, entitled METHOD FORDETERMINING THE POSITION OF A ROTATABLE JAW OF A SURGICAL INSTRUMENTATTACHMENT ASSEMBLY, now U.S. Pat. No. 10,835,330;

U.S. patent application Ser. No. 15/847,297, entitled SURGICALINSTRUMENTS WITH DUAL ARTICULATION DRIVERS, now U.S. Pat. No.10,716,565;

U.S. patent application Ser. No. 15/847,293, entitled SURGICALINSTRUMENT COMPRISING CLOSURE AND FIRING LOCKING MECHANISM, now U.S.Pat. No. 10,729,509;

U.S. patent application Ser. No. 15/847,315, entitled ROBOTIC ATTACHMENTCOMPRISING EXTERIOR DRIVE ACTUATOR, now U.S. Patent ApplicationPublication No. 2019/0183594; and

U.S. Design patent application Ser. No. 29/630,115, entitled SURGICALINSTRUMENT ASSEMBLY, now U.S. Design Pat. No. D910,847;

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 15, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/843,485, entitled SEALED ADAPTERSFOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/843,518, entitled END EFFECTORS WITHPOSITIVE JAW OPENING FEATURES FOR USE WITH ADAPTERS FORELECTROMECHANICAL SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/843,535, entitled SURGICAL ENDEFFECTORS WITH CLAMPING ASSEMBLIES CONFIGURED TO INCREASE JAW APERTURERANGES;

U.S. patent application Ser. No. 15/843,558, entitled SURGICAL ENDEFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCH AT THEIR RESPECTIVEDISTAL ENDS WHEN FULLY CLOSED;

U.S. patent application Ser. No. 15/843,528, entitled SURGICAL ENDEFFECTORS WITH JAW STIFFENER ARRANGEMENTS CONFIGURED TO PERMITMONITORING OF FIRING MEMBER;

U.S. patent application Ser. No. 15/843,567, entitled ADAPTERS WITH ENDEFFECTOR POSITION SENSING AND CONTROL ARRANGEMENTS FOR USE IN CONNECTIONWITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/843,556, entitled DYNAMIC CLAMPINGASSEMBLIES WITH IMPROVED WEAR CHARACTERISTICS FOR USE IN CONNECTION WITHELECTROMECHANICAL SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/843,514, entitled ADAPTERS WITHFIRING STROKE SENSING ARRANGEMENTS FOR USE IN CONNECTION WITHELECTROMECHANICAL SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/843,501, entitled ADAPTERS WITHCONTROL SYSTEMS FOR CONTROLLING MULTIPLE MOTORS OF AN ELECTROMECHANICALSURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/843,508, entitled HANDHELDELECTROMECHANICAL SURGICAL INSTRUMENTS WITH IMPROVED MOTOR CONTROLARRANGEMENTS FOR POSITIONING COMPONENTS OF AN ADAPTER COUPLED THERETO;

U.S. patent application Ser. No. 15/843,682, entitled SYSTEMS ANDMETHODS OF CONTROLLING A CLAMPING MEMBER FIRING RATE OF A SURGICALINSTRUMENT;

U.S. patent application Ser. No. 15/843,689, entitled SYSTEMS ANDMETHODS OF CONTROLLING A CLAMPING MEMBER; and

U.S. patent application Ser. No. 15/843,704, entitled METHODS OFOPERATING SURGICAL END EFFECTORS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 29, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/636,829, entitled CLOSED LOOPVELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/636,837, entitled CLOSED LOOPVELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FORROBOTIC SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/636,844, entitled CLOSED LOOPVELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/636,854, entitled ROBOTIC SURGICALINSTRUMENT WITH CLOSED LOOP FEEDBACK TECHNIQUES FOR ADVANCEMENT OFCLOSURE MEMBER DURING FIRING; and

U.S. patent application Ser. No. 15/636,858, entitled SYSTEM FORCONTROLLING ARTICULATION FORCES.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 28, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/635,693, entitled SURGICALINSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT;

U.S. patent application Ser. No. 15/635,729, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;

U.S. patent application Ser. No. 15/635,785, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;

U.S. patent application Ser. No. 15/635,808, entitled SURGICALINSTRUMENT COMPRISING FIRING MEMBER SUPPORTS;

U.S. patent application Ser. No. 15/635,837, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME;

U.S. patent application Ser. No. 15/635,941, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURESYSTEM;

U.S. patent application Ser. No. 15/636,029, entitled SURGICALINSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT;

U.S. patent application Ser. No. 15/635,958, entitled SURGICALINSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS;

U.S. patent application Ser. No. 15/635,981, entitled SURGICAL STAPLINGINSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES;

U.S. patent application Ser. No. 15/636,009, entitled SURGICALINSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE;

U.S. patent application Ser. No. 15/635,663, entitled METHOD FORARTICULATING A SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/635,530, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENEDARTICULATION JOINT CONFIGURATIONS;

U.S. patent application Ser. No. 15/635,549, entitled SURGICALINSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRINGMEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TOFIRING;

U.S. patent application Ser. No. 15/635,559, entitled SURGICALINSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACTWITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOTAXIS;

U.S. patent application Ser. No. 15/635,578, entitled SURGICAL ENDEFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS;

U.S. patent application Ser. No. 15/635,594, entitled SURGICAL CUTTINGAND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATINGARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT;

U.S. patent application Ser. No. 15/635,612, entitled JAW RETAINERARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW INPIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW;

U.S. patent application Ser. No. 15/635,621, entitled SURGICALINSTRUMENT WITH POSITIVE JAW OPENING FEATURES;

U.S. patent application Ser. No. 15/635,631, entitled SURGICALINSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER;

U.S. patent application Ser. No. 15/635,521, entitled SURGICALINSTRUMENT LOCKOUT ARRANGEMENT;

U.S. Design patent application Ser. No. 29/609,087, entitled STAPLEFORMING ANVIL;

U.S. Design patent application Ser. No. 29/609,083, entitled SURGICALINSTRUMENT SHAFT; and

U.S. Design patent application Ser. No. 29/609,093, entitled SURGICALFASTENER CARTRIDGE.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 27, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/634,024, entitled SURGICAL ANVILMANUFACTURING METHODS;

U.S. patent application Ser. No. 15/634,035, entitled SURGICAL ANVILARRANGEMENTS;

U.S. patent application Ser. No. 15/634,046, entitled SURGICAL ANVILARRANGEMENTS;

U.S. patent application Ser. No. 15/634,054, entitled SURGICAL ANVILARRANGEMENTS;

U.S. patent application Ser. No. 15/634,068, entitled SURGICAL FIRINGMEMBER ARRANGEMENTS;

U.S. patent application Ser. No. 15/634,076, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/634,090, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/634,099, entitled SURGICAL ENDEFFECTORS AND ANVILS; and

U.S. patent application Ser. No. 15/634,117, entitled ARTICULATIONSYSTEMS FOR SURGICAL INSTRUMENTS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/386,185, entitled SURGICAL STAPLINGINSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF;

U.S. patent application Ser. No. 15/386,230, entitled ARTICULATABLESURGICAL STAPLING INSTRUMENTS;

U.S. patent application Ser. No. 15/386,221, entitled LOCKOUTARRANGEMENTS FOR SURGICAL END EFFECTORS;

U.S. patent application Ser. No. 15/386,209, entitled SURGICAL ENDEFFECTORS AND FIRING MEMBERS THEREOF;

U.S. patent application Ser. No. 15/386,198, entitled LOCKOUTARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES;

U.S. patent application Ser. No. 15/386,240, entitled SURGICAL ENDEFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR;

U.S. patent application Ser. No. 15/385,939, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,941, entitled SURGICAL TOOLASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURESYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION ANDFIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,943, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,950, entitled SURGICAL TOOLASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES;

U.S. patent application Ser. No. 15/385,945, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,946, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,951, entitled SURGICALINSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENINGDISTANCE;

U.S. patent application Ser. No. 15/385,953, entitled METHODS OFSTAPLING TISSUE;

U.S. patent application Ser. No. 15/385,954, entitled FIRING MEMBERSWITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS;

U.S. patent application Ser. No. 15/385,955, entitled SURGICAL ENDEFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS;

U.S. patent application Ser. No. 15/385,948, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,956, entitled SURGICALINSTRUMENTS WITH POSITIVE JAW OPENING FEATURES;

U.S. patent application Ser. No. 15/385,958, entitled SURGICALINSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEMACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT;

U.S. patent application Ser. No. 15/385,947, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,896, entitled METHOD FORRESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT;

U.S. patent application Ser. No. 15/385,898, entitled STAPLE FORMINGPOCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES;

U.S. patent application Ser. No. 15/385,899, entitled SURGICALINSTRUMENT COMPRISING IMPROVED JAW CONTROL;

U.S. patent application Ser. No. 15/385,901, entitled STAPLE CARTRIDGEAND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN;

U.S. patent application Ser. No. 15/385,902, entitled SURGICALINSTRUMENT COMPRISING A CUTTING MEMBER;

U.S. patent application Ser. No. 15/385,904, entitled STAPLE FIRINGMEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT;

U.S. patent application Ser. No. 15/385,905, entitled FIRING ASSEMBLYCOMPRISING A LOCKOUT;

U.S. patent application Ser. No. 15/385,907, entitled SURGICALINSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRINGASSEMBLY LOCKOUT;

U.S. patent application Ser. No. 15/385,908, entitled FIRING ASSEMBLYCOMPRISING A FUSE;

U.S. patent application Ser. No. 15/385,909, entitled FIRING ASSEMBLYCOMPRISING A MULTIPLE FAILED-STATE FUSE;

U.S. patent application Ser. No. 15/385,920, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/385,913, entitled ANVIL ARRANGEMENTSFOR SURGICAL STAPLE/FASTENERS;

U.S. patent application Ser. No. 15/385,914, entitled METHOD OFDEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THESAME SURGICAL STAPLING INSTRUMENT;

U.S. patent application Ser. No. 15/385,893, entitled BILATERALLYASYMMETRIC STAPLE FORMING POCKET PAIRS;

U.S. patent application Ser. No. 15/385,929, entitled CLOSURE MEMBERSWITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE ANDDISTINCT CLOSURE AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,911, entitled SURGICALSTAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRINGSYSTEMS;

U.S. patent application Ser. No. 15/385,927, entitled SURGICAL STAPLINGINSTRUMENTS WITH SMART STAPLE CARTRIDGES;

U.S. patent application Ser. No. 15/385,917, entitled STAPLE CARTRIDGECOMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS;

U.S. patent application Ser. No. 15/385,900, entitled STAPLE FORMINGPOCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS;

U.S. patent application Ser. No. 15/385,931, entitled NO-CARTRIDGE ANDSPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS;

U.S. patent application Ser. No. 15/385,915, entitled FIRING MEMBER PINANGLE;

U.S. patent application Ser. No. 15/385,897, entitled STAPLE FORMINGPOCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES;

U.S. patent application Ser. No. 15/385,922, entitled SURGICALINSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES;

U.S. patent application Ser. No. 15/385,924, entitled SURGICALINSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS;

U.S. patent application Ser. No. 15/385,912, entitled SURGICALINSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDESEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,910, entitled ANVIL HAVING AKNIFE SLOT WIDTH;

U.S. patent application Ser. No. 15/385,906, entitled FIRING MEMBER PINCONFIGURATIONS;

U.S. patent application Ser. No. 15/386,188, entitled STEPPED STAPLECARTRIDGE WITH ASYMMETRICAL STAPLES;

U.S. patent application Ser. No. 15/386,192, entitled STEPPED STAPLECARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES;

U.S. patent application Ser. No. 15/386,206, entitled STAPLE CARTRIDGEWITH DEFORMABLE DRIVER RETENTION FEATURES;

U.S. patent application Ser. No. 15/386,226, entitled DURABILITYFEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLINGINSTRUMENTS;

U.S. patent application Ser. No. 15/386,222, entitled SURGICAL STAPLINGINSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES;

U.S. patent application Ser. No. 15/386,236, entitled CONNECTIONPORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS;

U.S. patent application Ser. No. 15/385,887, entitled METHOD FORATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY,TO A SURGICAL ROBOT;

U.S. patent application Ser. No. 15/385,889, entitled SHAFT ASSEMBLYCOMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH AMOTORIZED SURGICAL INSTRUMENT SYSTEM;

U.S. patent application Ser. No. 15/385,890, entitled SHAFT ASSEMBLYCOMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS;

U.S. patent application Ser. No. 15/385,891, entitled SHAFT ASSEMBLYCOMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRINGMEMBER TO TWO DIFFERENT SYSTEMS;

U.S. patent application Ser. No. 15/385,892, entitled SURGICAL SYSTEMCOMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TOARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM;

U.S. patent application Ser. No. 15/385,894, entitled SHAFT ASSEMBLYCOMPRISING A LOCKOUT;

U.S. patent application Ser. No. 15/385,895, entitled SHAFT ASSEMBLYCOMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS;

U.S. patent application Ser. No. 15/385,916, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,918, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,919, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,921, entitled SURGICALSTAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TODISENGAGE FIRING MEMBER LOCKOUT FEATURES;

U.S. patent application Ser. No. 15/385,923, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,925, entitled JAW ACTUATED LOCKARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICALEND EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE ENDEFFECTOR;

U.S. patent application Ser. No. 15/385,926, entitled AXIALLY MOVABLECLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OFSURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE COVERARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATORSHAFT OF A SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/385,930, entitled SURGICAL ENDEFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING ANDCLOSING END EFFECTOR JAWS;

U.S. patent application Ser. No. 15/385,932, entitled ARTICULATABLESURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT;

U.S. patent application Ser. No. 15/385,933, entitled ARTICULATABLESURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF ANARTICULATION LOCK;

U.S. patent application Ser. No. 15/385,934, entitled ARTICULATION LOCKARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION INRESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM;

U.S. patent application Ser. No. 15/385,935, entitled LATERALLYACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OFA SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION; and

U.S. patent application Ser. No. 15/385,936, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/191,775, entitled STAPLE CARTRIDGECOMPRISING WIRE STAPLES AND STAMPED STAPLES;

U.S. patent application Ser. No. 15/191,807, entitled STAPLING SYSTEMFOR USE WITH WIRE STAPLES AND STAMPED STAPLES;

U.S. patent application Ser. No. 15/191,834, entitled STAMPED STAPLESAND STAPLE CARTRIDGES USING THE SAME;

U.S. patent application Ser. No. 15/191,788, entitled STAPLE CARTRIDGECOMPRISING OVERDRIVEN STAPLES; and

U.S. patent application Ser. No. 15/191,818, entitled STAPLE CARTRIDGECOMPRISING OFFSET LONGITUDINAL STAPLE ROWS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. Design patent application Ser. No. 29/569,218, entitled SURGICALFASTENER;

U.S. Design patent application Ser. No. 29/569,227, entitled SURGICALFASTENER;

U.S. Design patent application Ser. No. 29/569,259, entitled SURGICALFASTENER CARTRIDGE; and

U.S. Design patent application Ser. No. 29/569,264, entitled SURGICALFASTENER CARTRIDGE.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/089,325, entitled METHOD FOROPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent ApplicationPublication No. 2017/0281171;

U.S. patent application Ser. No. 15/089,321, entitled MODULAR SURGICALSTAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Patent ApplicationPublication No. 2017/0281163;

U.S. patent application Ser. No. 15/089,326, entitled SURGICAL STAPLINGSYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD, nowU.S. Patent Application Publication No. 2017/0281172;

U.S. patent application Ser. No. 15/089,263, entitled SURGICALINSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now U.S.Patent Application Publication No. 2017/0281165;

U.S. patent application Ser. No. 15/089,262, entitled ROTARY POWEREDSURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM, now U.S.Patent Application Publication No. 2017/0281161;

U.S. patent application Ser. No. 15/089,277, entitled SURGICAL CUTTINGAND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER, now U.S.Patent Application Publication No. 2017/0281166;

U.S. patent application Ser. No. 15/089,296, entitled INTERCHANGEABLESURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELYROTATABLE ABOUT A SHAFT AXIS, now U.S. Patent Application PublicationNo. 2017/0281168;

U.S. patent application Ser. No. 15/089,258, entitled SURGICAL STAPLINGSYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S. Patent ApplicationPublication No. 2017/0281178;

U.S. patent application Ser. No. 15/089,278, entitled SURGICAL STAPLINGSYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE, now U.S.Patent Application Publication No. 2017/0281162;

U.S. patent application Ser. No. 15/089,284, entitled SURGICAL STAPLINGSYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent ApplicationPublication No. 2017/0281186;

U.S. patent application Ser. No. 15/089,295, entitled SURGICAL STAPLINGSYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now U.S. PatentApplication Publication No. 2017/0281187;

U.S. patent application Ser. No. 15/089,300, entitled SURGICAL STAPLINGSYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S. Patent ApplicationPublication No. 2017/0281179;

U.S. patent application Ser. No. 15/089,196, entitled SURGICAL STAPLINGSYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Patent ApplicationPublication No. 2017/0281183;

U.S. patent application Ser. No. 15/089,203, entitled SURGICAL STAPLINGSYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S. Patent ApplicationPublication No. 2017/0281184;

U.S. patent application Ser. No. 15/089,210, entitled SURGICAL STAPLINGSYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S. Patent ApplicationPublication No. 2017/0281185;

U.S. patent application Ser. No. 15/089,324, entitled SURGICALINSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Patent ApplicationPublication No. 2017/0281170;

U.S. patent application Ser. No. 15/089,335, entitled SURGICAL STAPLINGINSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S. Patent ApplicationPublication No. 2017/0281155;

U.S. patent application Ser. No. 15/089,339, entitled SURGICAL STAPLINGINSTRUMENT, now U.S. Patent Application Publication No. 2017/0281173;

U.S. patent application Ser. No. 15/089,253, entitled SURGICAL STAPLINGSYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENTHEIGHTS, now U.S. Patent Application Publication No. 2017/0281177;

U.S. patent application Ser. No. 15/089,304, entitled SURGICAL STAPLINGSYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S. Patent ApplicationPublication No. 2017/0281188;

U.S. patent application Ser. No. 15/089,331, entitled ANVIL MODIFICATIONMEMBERS FOR SURGICAL STAPLE/FASTENERS, now U.S. Patent ApplicationPublication No. 2017/0281180;

U.S. patent application Ser. No. 15/089,336, entitled STAPLE CARTRIDGESWITH ATRAUMATIC FEATURES, now U.S. Patent Application Publication No.2017/0281164;

U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR STAPLINGSYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S. PatentApplication Publication No. 2017/0281189;

U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR STAPLINGSYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Patent ApplicationPublication No. 2017/0281169; and

U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR STAPLINGSYSTEM COMPRISING LOAD CONTROL, now U.S. Patent Application PublicationNo. 2017/0281174.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Dec. 30, 2015 whichare each herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS FORCOMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS,now U.S. Patent Application Publication No. 2017/0189018;

U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2017/0189019; and

U.S. patent application Ser. No. 14/984,552, entitled SURGICALINSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS, now U.S.Patent Application Publication No. 2017/0189020.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Feb. 9, 2016 which areeach herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/019,220, entitled SURGICALINSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR, nowU.S. Patent Application Publication No. 2017/0224333;

U.S. patent application Ser. No. 15/019,228, entitled SURGICALINSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now U.S.Patent Application Publication No. 2017/0224342;

U.S. patent application Ser. No. 15/019,196, entitled SURGICALINSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, nowU.S. Patent Application Publication No. 2017/0224330;

U.S. patent application Ser. No. 15/019,206, entitled SURGICALINSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVETO AN ELONGATE SHAFT ASSEMBLY, now U.S. Patent Application PublicationNo. 2017/0224331;

U.S. patent application Ser. No. 15/019,215, entitled SURGICALINSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now U.S.Patent Application Publication No. 2017/0224332;

U.S. patent application Ser. No. 15/019,227, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS, nowU.S. Patent Application Publication No. 2017/0224334;

U.S. patent application Ser. No. 15/019,235, entitled SURGICALINSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATIONSYSTEMS, now U.S. Patent Application Publication No. 2017/0224336;

U.S. patent application Ser. No. 15/019,230, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS, now U.S.Patent Application Publication No. 2017/0224335; and

U.S. patent application Ser. No. 15/019,245, entitled SURGICALINSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. PatentApplication Publication No. 2017/0224343.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Feb. 12, 2016 whichare each herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/742,925, entitled SURGICAL ENDEFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S. PatentApplication Publication No. 2016/0367256;

U.S. patent application Ser. No. 14/742,941, entitled SURGICAL ENDEFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now U.S. PatentApplication Publication No. 2016/0367248;

U.S. patent application Ser. No. 14/742,914, entitled MOVABLE FIRINGBEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2016/0367255;

U.S. patent application Ser. No. 14/742,900, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTERFIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT, now U.S. PatentApplication Publication No. 2016/0367254;

U.S. patent application Ser. No. 14/742,885, entitled DUAL ARTICULATIONDRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2016/0367246; and

U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULLARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2016/0367245.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/640,746, entitled POWERED SURGICALINSTRUMENT, now U.S. Pat. No. 9,808,246;

U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE LEVELTHRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2016/02561185;

U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE TISSUECOMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUETYPES, now U.S. Patent Application Publication No. 2016/0256154;

U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTISENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUECOMPRESSION, now U.S. Patent Application Publication No. 2016/0256071;

U.S. patent application Ser. No. 14/640,831, entitled MONITORING SPEEDCONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICALINSTRUMENTS, now U.S. Patent Application Publication No. 2016/0256153;

U.S. patent application Ser. No. 14/640,859, entitled TIME DEPENDENTEVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, ANDVISCOELASTIC ELEMENTS OF MEASURES, now U.S. Patent ApplicationPublication No. 2016/0256187;

U.S. patent application Ser. No. 14/640,817, entitled INTERACTIVEFEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2016/0256186;

U.S. patent application Ser. No. 14/640,844, entitled CONTROL TECHNIQUESAND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROLPROCESSING FROM HANDLE, now U.S. Patent Application Publication No.2016/0256155;

U.S. patent application Ser. No. 14/640,837, entitled SMART SENSORS WITHLOCAL SIGNAL PROCESSING, now U.S. Patent Application Publication No.2016/0256163;

U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FORDETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICALSTAPLE/FASTENER, now U.S. Patent Application Publication No.2016/0256160;

U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND POWERCOMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. PatentApplication Publication No. 2016/0256162; and

U.S. patent application Ser. No. 14/640,780, entitled SURGICALINSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. PatentApplication Publication No. 2016/0256161.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/633,576, entitled SURGICALINSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. PatentApplication Publication No. 2016/0249919;

U.S. patent application Ser. No. 14/633,546, entitled SURGICAL APPARATUSCONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICALAPPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. PatentApplication Publication No. 2016/0249915;

U.S. patent application Ser. No. 14/633,560, entitled SURGICAL CHARGINGSYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES, now U.S.Patent Application Publication No. 2016/0249910;

U.S. patent application Ser. No. 14/633,566, entitled CHARGING SYSTEMTHAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S.Patent Application Publication No. 2016/0249918;

U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FORMONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S.Patent Application Publication No. 2016/0249916;

U.S. patent application Ser. No. 14/633,542, entitled REINFORCED BATTERYFOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2016/0249908;

U.S. patent application Ser. No. 14/633,548, entitled POWER ADAPTER FORA SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2016/0249909;

U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE SURGICALINSTRUMENT HANDLE, now U.S. Patent Application Publication No.2016/0249945;

U.S. patent application Ser. No. 14/633,541, entitled MODULAR STAPLINGASSEMBLY, now U.S. Patent Application Publication No. 2016/0249927; and

U.S. patent application Ser. No. 14/633,562, entitled SURGICAL APPARATUSCONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. PatentApplication Publication No. 2016/0249917.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/574,478, entitled SURGICALINSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANSFOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. Pat. No.9,844,374;

U.S. patent application Ser. No. 14/574,483, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. PatentApplication Publication No. 2016/0174969;

U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTSFOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,844,375;

U.S. patent application Ser. No. 14/575,148, entitled LOCKINGARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICALEND EFFECTORS, now U.S. Patent Application Publication No. 2016/0174976;

U.S. patent application Ser. No. 14/575,130, entitled SURGICALINSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETENON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. PatentApplication Publication No. 2016/0174972;

U.S. patent application Ser. No. 14/575,143, entitled SURGICALINSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. PatentApplication Publication No. 2016/0174983;

U.S. patent application Ser. No. 14/575,117, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174975;

U.S. patent application Ser. No. 14/575,154, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174973;

U.S. patent application Ser. No. 14/574,493, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S.Patent Application Publication No. 2016/0174970; and

U.S. patent application Ser. No. 14/574,500, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S.Patent Application Publication No. 2016/0174971.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION,now U.S. Pat. No. 9,700,309;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWEREDARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,782,169;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCHARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0249557;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICALSURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No.9,358,003;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSORMOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,554,794;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCHASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767;

U.S. patent application Ser. No. 13/782,481, entitled SENSORSTRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat.No. 9,468,438;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODSFOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S.Patent Application Publication No. 2014/0246475;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWEREDSURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No.9,398,911; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICALINSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No.9,687,230;

U.S. patent application Ser. No. 13/803,193, entitled CONTROLARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat.No. 9,332,987;

U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLESHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0263564;

U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541;

U.S. patent application Ser. No. 13/803,210, entitled SENSORARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS,now U.S. Pat. No. 9,808,244;

U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTIONMOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application PublicationNo. 2014/0263554;

U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEMLOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,629,623;

U.S. patent application Ser. No. 13/803,117, entitled ARTICULATIONCONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,726;

U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAINCONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,727; and

U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEMFOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENTCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272582;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATIONVERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OFNUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent ApplicationPublication No. 2015/0272580;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENTTHROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S.Patent Application Publication No. 2015/0272574;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWEREDSURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No.9,743,929;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACKALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2015/0272569;

U.S. patent application Ser. No. 14/226,116, entitled SURGICALINSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent ApplicationPublication No. 2015/0272571;

U.S. patent application Ser. No. 14/226,071, entitled SURGICALINSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat. No.9,690,362;

U.S. patent application Ser. No. 14/226,097, entitled SURGICALINSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No. 9,820,738;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMSFOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272572;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICALINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272557;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No.9,804,618;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENTTHROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Pat.No. 9,733,663;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLINGINSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICALINSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent ApplicationPublication No. 2015/0280384.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY ANDSENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent ApplicationPublication No. 2016/0066912;

U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITHINTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No.9,724,094;

U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICEDEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No. 9,737,301;

U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORSWITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION,now U.S. Pat. No. 9,757,128;

U.S. patent application Ser. No. 14/479,110, entitled POLARITY OF HALLMAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Patent ApplicationPublication No. 2016/0066915;

U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGEWAKE UP OPERATION AND DATA RETENTION, now U.S. Patent ApplicationPublication No. 2016/0066911;

U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTORCONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and

U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OFTISSUE PARAMETER STABILIZATION, now U.S. Patent Application PublicationNo. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat. No.9,826,976;

U.S. patent application Ser. No. 14/248,581, entitled SURGICALINSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROMTHE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110;

U.S. patent application Ser. No. 14/248,595, entitled SURGICALINSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THESURGICAL INSTRUMENT, now U.S. Pat. No. 9,844,368;

U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEARSURGICAL STAPLE/FASTENER, now U.S. Patent Application Publication No.2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0305991;

U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARYDRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Pat. No.9,801,626;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLE/FASTENER, now U.S. Patent Application Publication No.2014/0309665;

U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEMDECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0305990; and

U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, nowU.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. Provisional Patent Application Ser. No. 61/812,365, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEARCUTTER WITH POWER;

U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEARCUTTER WITH MOTOR AND PISTOL GRIP;

U.S. Provisional Patent Application Ser. No. 61/812,385, entitledSURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTORCONTROL; and

U.S. Provisional Patent Application Ser. No. 61/812,372, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

The embodiments disclosed herein can be used with the embodimentsdisclosed in the following patent applications: U.S. patent applicationSer. No. 15/636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUESFOR ROBOTIC SURGICAL INSTRUMENT; U.S. patent application Ser. No.15/636,837, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ONSENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT; U.S. patentapplication Ser. No. 15/636,844, entitled CLOSED LOOP VELOCITY CONTROLOF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT; U.S. patentapplication Ser. No. 15/636,854, entitled ROBOTIC SURGICAL INSTRUMENTWITH CLOSED LOOP FEEDBACK TECHNIQUES FOR ADVANCEMENT OF CLOSURE MEMBERDURING FIRING; and U.S. patent application Ser. No. 15/636,858, entitledSYSTEM FOR CONTROLLING ARTICULATION FORCES, which are each hereinincorporated by reference in their respective entireties.

Various embodiments disclosed herein may be employed in connection witha robotic system 1000 of the type depicted in FIGS. 1-3, for example.FIG. 1 depicts one version of a master controller 1001 that may be usedin connection with a robotic arm slave cart 1100 of the type depicted inFIG. 2. Master controller 1001 and robotic arm slave cart 1100, as wellas their respective components and control systems are collectivelyreferred to herein as a robotic system 1000. Examples of such systemsand devices are disclosed in U.S. Pat. No. 7,524,320, entitledMECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, as wellas U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITHROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which are each herebyincorporated by reference herein in their respective entireties. Thus,various details of such devices will not be described in detail hereinbeyond that which may be necessary to understand various embodiments andforms of the present disclosure. As is known, the master controller 1001generally includes master controllers (generally represented as 1003 inFIG. 1) which are grasped by the surgeon and manipulated in space whilethe surgeon views the procedure via a stereo display 1002. The mastercontrollers 1001 generally comprise manual input devices whichpreferably move with multiple degrees of freedom, and which oftenfurther have an actuatable handle for actuating tools (for example, forclosing grasping jaws, applying an electrical potential to an electrode,or the like).

As can be seen in FIG. 2, in one form, the robotic arm cart 1100 may beconfigured to actuate one ore more surgical tools, generally designatedas 2000. Various robotic surgery systems and methods employing mastercontroller and robotic arm cart arrangements are disclosed in U.S. Pat.No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHODthe entire disclosure of which is hereby incorporated by referenceherein. In various forms, the robotic arm cart 1100 includes a base 1002from which, in the illustrated embodiment, surgical tools may besupported. In various forms, the surgical tool(s) may be supported by aseries of manually articulatable linkages, generally referred to asset-up joints 1104, and a robotic manipulator 1106. In variousembodiments, the linkage and joint arrangement may facilitate rotationof a surgical tool around a point in space, as more fully described inissued U.S. Pat. No. 5,817,084, entitled REMOTE CENTER POSITIONINGDEVICE WITH FLEXIBLE DRIVE, the entire disclosure of which is herebyincorporated by reference herein. The parallelogram arrangementconstrains rotation to pivoting about an axis 1112 a, sometimes calledthe pitch axis. The links supporting the parallelogram linkage arepivotally mounted to set-up joints 1104 (FIG. 2) so that the surgicaltool further rotates about an axis 1112 b, sometimes called the yawaxis. The pitch and yaw axes 1112 a, 1112 b intersect at the remotecenter 1114, which is aligned along an elongate shaft of a surgicaltool. The surgical tool may have further degrees of driven freedom assupported by manipulator 1106, including sliding motion of the surgicaltool along the longitudinal axis “LT-LT”. As the surgical tool slidesalong the tool axis LT-LT relative to manipulator 1106 (arrow 1112 c),remote center 1114 remains fixed relative to base 1116 of manipulator1106. Hence, the entire manipulator is generally moved to re-positionremote center 1114. Linkage 1108 of manipulator 1106 may be driven by aseries of motors 1120. These motors actively move linkage 1108 inresponse to commands from a processor of a control system. The motors1120 may also be employed to manipulate the surgical tool. Alternativejoint structures and set up arrangements are also contemplated. Examplesof other joint and set up arrangements, for example, are disclosed inU.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMALPOSITIONING, the entire disclosure of which is hereby incorporated byreference herein. Additionally, while the data communication between arobotic component and the processor of the robotic surgical system isprimarily described herein with reference to communication between thesurgical tool and the master controller 1001, it should be understoodthat similar communication may take place between circuitry of amanipulator, a set-up joint, an endoscope or other image capture device,or the like, and the processor of the robotic surgical system forcomponent compatibility verification, component-type identification,component calibration (such as off-set or the like) communication,confirmation of coupling of the component to the robotic surgicalsystem, or the like. In accordance with at least one aspect, varioussurgical instruments disclosed herein may be used in connection withother robotically-controlled or automated surgical systems and are notnecessarily limited to use with the specific robotic system componentsshown in FIGS. 1-3 and described in the aforementioned references.

In one aspect, a surgical tool generally designated as 2000 isconfigured to be selectively interchangeably employed with a firstcontroller interface 3000 (FIGS. 22-25) and a second controllerinterface 3500 (FIGS. 28 and 29), for example. In the exampleillustrated in FIGS. 4-14, one form of surgical tool 2000 comprises asurgical end effector 2100 that is configured to cut and staple orfasten tissue. The surgical end effector 2100 comprises a first“cartridge” jaw 2110 and a second “anvil” jaw 2200. In one arrangement,the cartridge jaw comprises a frame 2112 that is configured to operablysupport a surgical staple/fastener cartridge 2150 therein. The secondjaw 2200 comprises an anvil 2202 that is pivotally supported relative tothe frame 2112 and is configured to form staples or fasteners that areejected from the staple/fastener cartridge 2150. In use, the anvil 2202is rotatable between an open, unclamped position and a closed, clampedposition; however, embodiments are envisioned in which the cartridge jaw2110 is movable relative to the anvil 2202.

As can be seen in FIGS. 6 and 8, in one aspect, the anvil 2202 ispivotally supported on the frame 2112 for selective pivotal travelrelative thereto. In one arrangement, for example, the anvil 2202comprises an anvil body 2204 and an anvil mounting portion 2210. SeeFIG. 6. An anvil trunnion 2212 extends laterally from each side of theanvil mounting portion 2210 and is adapted to be received incorresponding trunnion cradles 2116 in a proximal end portion 2114 ofthe frame 2112. The anvil trunnions 2212 are pivotally retained in theircorresponding trunnion cradle 2116 by a channel cap or anvil retainer2120. The channel cap or anvil retainer 2120 includes a pair ofattachment lugs 2122 that are configured to be retainingly receivedwithin corresponding lug grooves or notches 2118 formed in upstandingwalls 2115 of the proximal end portion 2114 of the frame 2112. Thesurgical tool 2000 further comprises an elongate shaft assembly 2300wherein the surgical end effector 2100 is rotatably connected to theshaft assembly 2300 about an articulation joint 2350. As will bediscussed in further detail below, the articulation joint 2350facilitates articulation of the surgical end effector 2100 relative tothe elongate shaft assembly 2300 about a fixed pivot axis PA. See FIG.8.

Referring to FIG. 6, in accordance with one example, the shaft assembly2300 of the surgical tool 2000 comprises an outer closure tube that, inat least one form, comprises an outer housing 2410 that has a couplerportion 2412 attached thereto. In one arrangement, for example, thecoupler portion 2412 may be welded to the outer housing 2410 or attachedthereto by an appropriate adhesive for example. The shaft assembly 2300further comprises a distal housing 2420 that is pivotally connected tothe coupler portion 2412 by two connector plates 2430 positioned onopposite sides of the articulation joint 2350. The distal housing 2420is movable distally to engage the anvil 2202 and move the anvil 2202toward the staple cartridge 2150. Each connector plate 2430 is connectedto the coupler portion 2412 at a pivot 2414 and, similarly, to thedistal housing 2420 at a pivot 2422. Similar to the above, the connectorplates 2430 permit the coupler portion 2412 and distal housing 2420 toslide relative to the articulation joint 2350 when the surgical endeffector 2100 is in an articulated position wherein, as a result, theanvil 2202 can be opened and closed while the surgical end effector 2100is in an articulated position. Further to the above, the distal housing2420 comprises distal jaw opening feature 2424 and a proximal jawopening feature 2426 that serve to apply jaw opening motions to theanvil mounting portion 2210 when the distal housing 2420 is retracted ina proximal direction PD. When the distal housing 2420 is driven in adistal direction DD, it is configured to cammingly contact acorresponding portion of the anvil mounting portion 2210 to transfer aclosing motion to the anvil 2202. Further details regarding the distaland proximal jaw opening features 2424, 2426 may be found in U.S. patentapplication Ser. No. 15/635,621, entitled SURGICAL INSTRUMENT WITHPOSITIVE JAW OPENING FEATURES, the entire disclosure of which is herebyincorporated by reference herein.

In the illustrated arrangement, the surgical end effector 2100 isrotatably mounted to a tool frame assembly 2320 about a fixed pivot 2550of the articulation joint 2350. In various circumstances, for ease ofassembly, the tool frame assembly 2320 may comprise a proximal toolframe portion 2322 and a distal tool frame portion 2330 that areinterconnected together by snap features, adhesive, welding, etc. SeeFIG. 6. The shaft assembly 2300 further comprises distal mounting tabs2340 which extend from and are fixedly mounted to the distal tool frameportion 2330. A first distal mounting tab 2340 is mounted to the firstcartridge jaw 2110, which comprises the frame 2112, and a second distalmounting tab 2340 is mounted to the anvil retainer 2120. Theinterconnection between the mounting tabs 2340 and the first cartridgejaw 2110 and the anvil retainer 2120 defines the fixed pivot 2550. Thefixed pivot axis PA defined by the fixed pivot 2550 is laterally offsetwith respect to a central longitudinal axis LA of the shaft assembly2300 by an offset distance OD. See FIG. 9. The longitudinal axis LAextends between a proximal end 2302 and a distal end 2304. See FIG. 4.In various instances, the offset distance OD is between 0.0250 inchesand 0.045 inches, for example. In various instances, the offset distanceOD is between 0.0300 inches and 0.0400 inches, for example. In variousinstances, the offset distance OD is between 0.0325 inches and 0.0375inches, for example. In various instances, the offset distance OD isabout 0.0355 inches, for example. For instance, the offset distance ODis 0.0355 inches, for example. Other offset distances OD are envisionedand may be employed.

Referring again to FIG. 6, the surgical tool 2000 further comprises anarticulation system 2500 including a first or right articulation driver2510 and a second or left articulation driver 2530 extending through aninterior aperture 2415 defined within the proximal closure tube or outerhousing 2410 of the shaft assembly 2300. The articulation system 2500further comprises a first or right articulation link 2520 that isrotatably coupled to a distal end of the right articulation driver 2510at a first link attachment location 2525 about a proximal right pin2522. The articulation system 2500 also comprises a second or leftarticulation link 2540 that is rotatably coupled to the end of the leftarticulation driver 2530 at a second link attachment location 2545 abouta proximal left pin 2542. Turning to FIG. 12, in at least onearrangement for example, the proximal right pin 2522 is laterally offsetfrom the longitudinal axis LA a first lateral distance X_(R) and theproximal left pin 2542 is laterally offset from the longitudinal axis LAa second lateral distance X_(L). In at least one example, X_(L)<X_(R).In various instances, X_(L) is between 0.0500 inches and 0.1500 inches,for example. In various instances, X_(L) is between 0.0750 inches and0.1250 inches, for example. In various instances, X_(L) is about 0.1000inches, for example. For instance, X_(L) is 0.1000 inches, for example.In various instances, X_(R) is between 0.0500 inches and 0.1500 inches,for example. In various instances, X_(R) is between 0.0750 inches and0.1250 inches, for example. In various instances, X_(R) is about 0.1100inches, for example. For instance, X_(R) is 0.1100 inches, for example.Other lateral distances X_(L), X_(R) are envisioned and may be employed.Similarly, the right articulation link 2520 is rotatably coupled to thecartridge jaw 2110 or frame 2112 at a first attachment location 2135about a distal left drive pin 2130 which extends through an aperturedefined in the right articulation link 2520. Likewise, the leftarticulation link 2540 is rotatably coupled to the cartridge jaw 2110 orframe 2112 at a second attachment location 2137 about a distal rightdrive pin 2132 which extends through an aperture defined in the leftarticulation link 2540. As can be seen in FIG. 12, the left articulationlink 2540 extends transversely relative to stated another way crossesover the central longitudinal axis LA defined by the elongate shaftassembly 2300. In the illustrated arrangement, the left articulationlink 2540 also extends transversely to or crosses over the rightarticulation link 2520. Other alternative arrangements are contemplatedwherein the right articulation link crosses over the left articulationlink.

Turning again to FIG. 9, the distal right pin 2130 and the distal leftpin 2132 are longitudinally offset with respect to the pivot axis PAwhich may create longitudinal, or axial, torque arms (ATA). In variousinstances, the torque arms ATA are between 0.0500 inches and 0.1500inches, for example. In various instances, torque arms ATA are between0.0750 inches and 0.1250 inches, for example. In various instances,torque arms ATA are about 0.0917 inches, for example. For instance,torque arms ATA are 0.0917 inches, for example. Other torque arms ATAare envisioned and may be employed. In addition, the distal right pin2130 may be laterally offset from the central longitudinal axis LA aright lateral distance X1 and distal left pin 2132 may be laterallyoffset from the central longitudinal axis LA a left lateral distance X2.In the illustrated arrangement for example, X1>X2. In various instances,X1 is between 0.1000 inches and 0.2000 inches, for example. In variousinstances, X1 is between 0.1250 inches and 0.1750 inches, for example.In various instances, X1 is about 0.1455 inches, for example. Forinstance, X1 is 0.1455 inches, for example. In various instances, X2 isbetween 0.0500 inches and 0.1500 inches, for example. In variousinstances, X2 is between 0.0750 inches and 0.1250 inches, for example.In various instances, X2 is about 0.1137 inches, for example. Forinstance, X2 is 0.1137 inches, for example. Other lateral distances X1,X2 are envisioned and may be employed.

The asymmetry of this design may have several purposes. For example, theasymmetric design may create a more stable configuration when thearticulation links are oriented one on top of the other. The effects ofgravity create a need for greater stability over the top of the endeffector, suggesting an imbalance of forces need to be applied to thearticulation links. Second, the asymmetric design also creates a controlalgorithm with asymmetric properties. This creates a set of force ratiosbetween the two articulation links that is unique at every point, inthat the ratio of forces between the two articulation links is alwaysgoing to be different. This design may help to diagnose problems anddebug issues between the interplay of the two articulation links becauseit is known that the force ratio profile is unique at every point.

Referring to FIGS. 12-14, examples are shown of how movements of thearticulation drivers 2510, 2530 cause the surgical end effector 2100 toarticulate, according to some aspects. In FIG. 12, the surgical endeffector 2100 is in a neutral or straight position relative to thearticulation drivers 2510, 2530 as well as the longitudinal axis LA.Such arrangement may, for example, facilitate insertion of the surgicaltool 2000 through a cannula of a trocar or similar arrangement. In FIG.13, the left articulation driver 2530 is moved distally (distaldirection DD), while simultaneously the right articulation driver 2510is moved proximally (proximal direction PD). Because the hinges (links2520, 2540) of the articulation drivers 2510, 2530 that connect to thecartridge jaw 2110 of the surgical end effector 2100 are positioned onopposite sides of the fixed articulation pivot 2550, these describedmotions cause the surgical end effector 2100 to articulate in thecounterclockwise left direction L, as shown. Similarly, because theright articulation link 2520 connecting the right articulation driver2510 is attached to the left of the fixed pivot 2550, movement of rightarticulation driver 2510 in a proximal direction PD is consistent withcausing a counterclockwise motion. In contrast, as shown in FIG. 14,reverse movements by the articulation drivers 2510, 2530 cause thesurgical end effector 2100 to move in the reverse, i.e., clockwise,direction R. That is, a movement by the right articulation driver 2510in the distal direction DD, and any simultaneous movement by the leftarticulation driver 2530 in the proximal direction PD, create aclockwise motion of the surgical end effector 2100 about the fixed pivot2550.

As can be seen in FIG. 12, the center of the proximal right pin 2522lies on the unarticulated axis UA_(R) when the surgical end effector2100 is in the unarticulated position and the right and leftarticulation drivers 2510, 2530 are in their respective neutralpositions. Similarly, the center of the proximal left pin 2542 lies onan unarticulated axis UA_(L). In the illustrated arrangement, theunarticulated axis UA_(R) is slightly proximal to the unarticulated axisUA_(L) when the surgical end effector 2100 is in the unarticulatedposition. Stated another way, the UA_(R) is axially offset from UA_(L).Stated still another way, when the first articulation driver 2510 is ina first neutral position (FIG. 12), and the second articulation driver2530 is in a second neutral position (FIG. 12), the first linkattachment location 2525 is axially offset from the second linkattachment location 2545.

As indicated above, FIG. 12 illustrates the neutral positions 2527, 2547of the first and second articulation drivers 2510, 2530, respectively.When in that position, the surgical end effector 2100 is axially alignedwith the longitudinal axis LA or stated another way, the surgical endeffector 2100 is in an unarticulated position. Turning to FIG. 13, tocause the surgical end effector 2100 to pivot or articulate in acounterclockwise direction (arrow L), the left articulation driver 2530is moved axially a second distal articulation stroke length LS₁(measured from the second neutral position 2547 to a second distalposition 2560) and the right articulation driver 2510 is moved axially afirst proximal articulation stroke length RS₁ (measured from the firstneutral position 2527 to a first proximal position 2562). The movementof the right articulation driver 2510 through the first proximalarticulation stroke length RS₁ may occur simultaneously with themovement of the left articulation driver 2530 through the second distalarticulation stroke length. In the illustrated example, LS₁>RS₁. In use,the surgical end effector 2100 is rotatable about the articulation joint2350 between a fully articulated left position (FIG. 13), indicated byangle α_(L), and a fully-articulated right position (FIG. 14), indicatedby angle α_(R)—and/or any suitable position there between. In at leastone arrangement, the left articulation driver 2530 axially moves througha second distal articulation stroke length LS₁ and the rightarticulation driver 2510 axially moves through a first proximalarticulation stroke length RS₁ in order to articulate the surgical endeffector 2100 to its maximum left articulated position(α_(L)=approximately sixty-five degrees (65°)). In various instances,LS₁ is between 0.1200 inches and 0.2200 inches, for example. In variousinstances, LS₁ is between 0.1450 inches and 0.1950 inches, for example.In various instances, LS₁ is about 0.1727 inches, for example. Forinstance, LS₁ is 0.1727 inches, for example. In various instances, RS₁is between 0.0500 inches and 0.1500 inches, for example. In variousinstances, RS₁ is between 0.0750 inches and 0.1250 inches, for example.In various instances, RS₁ is about 0.1164 inches, for example. Forinstance, RS₁ is 0.1164 inches, for example. Other stroke lengths LS₁,RS₁ are envisioned and may be employed. Likewise, for example, the rightarticulation driver 2510 axially moves through a first distalarticulation stroke length RS₂ (measured from the first neutral position2527 to a first distal position 2564) and the left articulation driver2530 axially moves through a second proximal articulation stroke lengthLS₂ (measured from the second neutral position 2547 to a second proximalposition 2566) in order to articulate the surgical end effector 2100 toits maximum right articulated position (α_(R)=approximately forty-threedegrees (43°)). In various instances, LS₂ is between 0.0250 inches and0.1250 inches, for example. In various instances, LS₂ is between 0.0500inches and 0.1000 inches, for example. In various instances, LS₂ isabout 0.0760 inches, for example. For instance, LS₂ is 0.0760 inches,for example. In various instances, RS₂ is between 0.1200 inches and0.2200 inches, for example. In various instances, RS₂ is between 0.1450inches and 0.1950 inches, for example. In various instances, RS₂ isabout 0.1731 inches, for example. For instance, RS₂ is 0.1731 inches,for example. Other stroke lengths LS₂, RS₂ are envisioned and may beemployed. See FIG. 14. In at least one arrangement for example,UA_(L)≠UA_(R); LS₁>RS₁; LS₂<RS₂; LS₁>RS₂; LS₂<RS₁.

In some aspects, causing articulation of the surgical end effector 2100involves applying forces to both of the articulation links 2520, 2540 inan antagonistic relationship. For example, each source of articulationmotions (e.g., motor) that operably interfaces with the right and leftarticulation drivers 2510, 2530 may exert pulling/pushing forces on bothof the articulation links at the same time. The ratio of the amount ofpulling (or pushing) force between the two articulation links maydetermine the angle at which the surgical end effector 2100 isarticulated. Referring to FIG. 10, shown is another example of howforces may be applied to the two articulation links 2520, 2540 in orderto cause the surgical end effector 2100 to articulate 30° from thecenterline or longitudinal axis LA, according to some aspects. Here, amotor or other source of articulation motion that is coupled to theright articulation driver 2510 may apply an actuation force that isgreater than the actuation force being applied to the left articulationdriver 2530 by a second motor or other second source of articulationmotion. The difference in the forces may not be as substantial as theones required, for example, to articulate the surgical end effector 2100through its maximum left articulation angle α_(L). As an example, theexact ratio of forces between the two articulation arms may bedetermined, for example, by a control algorithm graph such as the onesdisclosed in U.S. patent application Ser. No. 15/636,858, entitledSYSTEM FOR CONTROLLING ARTICULATION FORCES, the entire disclosure ofwhich is hereby incorporated by reference herein. For example, FIG. 15illustrates the surgical end effector 2100 in a left articulatedposition wherein the left articulation angle α_(L) is approximatelysixty degrees (60°). Starting from the position of articulation in theillustration of FIG. 15, the change in forces applied to the twoarticulation drivers 2510, 2530 results in an effective force F_(E)applied to the surgical end effector in FIG. 10. The arrows 2560 and2562 represent the changes in force applied to their respectivearticulation drivers relative to the forces illustrated in FIG. 15.

Referring to FIG. 11, shown is a third example of how forces may beapplied to the two articulation drivers 2510, 2530 to cause the surgicalend effector 2100 to articulate back to the center or neutral position,according to some aspects. Here, the motor or other actuator thatoperably interfaces with the right articulation driver 2510 may apply anactuation force that is less than an actuation force that is applied tothe left articulation driver 2530 by a second motor or other actuator.For example, the antagonistic actuation force of the left articulationdriver 2530 may be actually greater than the actuation force that isapplied to the right articulation driver 2510 at the 0° point (noarticulation). This makes sense when considering that the articulationpivot 2550 is off-center and closer to the hinge (left articulation link2540) of the left articulation driver 2530. This requires the leftarticulation driver 2530 to deliver more torque relative to the rightarticulation driver 2510 in order to balance the forces. In thisexample, the change in the amount of forces applied to both of thearticulation drivers in FIG. 10 results in an effective force F_(E)being applied to the center of mass of the surgical end effector 2100.

The right articulation link 2520 has a link length LL_(R) and the leftarticulation link 2540 has a left link LL_(L). In the illustratedexample, LL_(R) is approximately equal to LL_(L). However, otherembodiments are contemplated wherein LL_(R)≠LL_(L).

In addition to the shaft assembly 2300, a surgical end effector 2100,and an articulation joint 2350, the surgical tool 2000 further comprisesa staple firing system 2600, for example, that includes a firing bar2610 that extends through the articulation joint 2350. See FIGS. 6 and7. In use, the firing bar 2610 is translatable distally to perform astaple firing stroke and retractable proximally after at least a portionof the staple firing stroke has been completed. The firing bar 2610extends through a channel or slot 2324 defined in the proximal toolframe portion 2322 and a slot 2332 in the distal tool frame portion 2330of the shaft assembly 2300 which are configured to closely receiveand/or guide the firing bar 2610 as the firing bar 2610 moves relativeto the shaft assembly 2300. See FIG. 6.

Further to the above, the channels 2324 and 2332 do not extend into thearticulation joint 2350 and, without more, the firing bar 2610 may beunsupported within the articulation joint 2350. When the surgical endeffector 2100 is in an unarticulated configuration (FIG. 7), the firingbar 2610 is unlikely to buckle within the articulation joint 2350 duringthe staple firing stroke—however, the likelihood of the firing bar 2610buckling laterally during the staple firing stroke increases when thesurgical end effector 2100 is in an articulated configuration (FIGS.13-15). To reduce the possibility of such buckling, the surgical tool2000 further comprises a firing bar support 2650 configured to supportthe firing bar 2610. The firing bar support 2650 comprises a proximalportion 2652 connected to the distal tool frame portion 2330, a distalportion 2654 connected to the frame 2112, and an intermediate portion2656 extending between the proximal portion 2652 and the distal portion2654. The portions 2652, 2654, 2656 of the firing bar support 2650 areintegrally formed; however, other embodiments are envisioned in whichthe portions 2652, 2654, 2656 are assembled to one another and/orcomprise separate components. See FIG. 6.

Further to the above, the distal portion 2652 of the firing bar support2650 is fixedly mounted to the frame 2112 and does not move, or at leastsubstantially move, relative to the frame 2112. An intermediate portion2654 of the firing bar support 2650 comprises one or more portionshaving a reduced cross-section which, among other things, allows thefiring bar support 2650 to flex within the articulation joint 2350 whenthe surgical end effector 2100 is articulated. A proximal portion 2656of the firing bar support 2650 is slidably mounted to the distal toolframe portion 2330 such that the firing bar support 2650 can translaterelative to the distal tool frame portion 2330 when the surgical endeffector 2100 is articulated. That said, the proximal portion 2656 ofthe firing bar support 2650 comprises a proximal head 2658 that isslidable within a chamber, or cavity, 2331 defined within the distaltool frame portion 2330 which can limit the travel of the firing barsupport 2650. Embodiments are envisioned, however, without such a travelconstraint. In any event, the distal portion 2652, the intermediateportion 2654, and proximal portion 2656 of the firing bar support 2650co-operatively define a channel, or slot, 2659 which is configured tosupport the firing bar 2610—especially within the articulation joint2350—and reduce the possibility of the firing bar 2610 buckling duringthe staple firing stroke, for instance.

In various instances, the firing bar 2610 is comprised of a plurality ofparallel, or at least substantially parallel, layers 2612. See FIG. 7.The layers are affixed to a distal firing or cutting member 2620 and canpartially translate or slide longitudinally relative to oneanother—especially within the articulation joint 2350. Each such layeris configured to transmit a load in the same direction, i.e., proximallyor distally, even though such layers can move, or slide, relative to oneanother. Further to the above, such layers may splay laterally relativeto one another—especially within the articulation joint 2350—when thesurgical end effector 2100 has been articulated. The intermediateportion 2654 of the firing bar support 2650 comprises a plurality ofconnected control elements which can at least reduce, if not prevent,the relative lateral splay of the firing bar layers. Alternatively, asmentioned above, one or more of the control elements can be unconnectedto one another. Examples of various firing bar and firing bar supportarrangements are disclosed in U.S. patent application Ser. No.15/635,808, entitled SURGICAL INSTRUMENT COMPRISING FIRING MEMBERSUPPORTS, the entire disclosure of which is hereby incorporated byreference herein.

As can also be seen in FIG. 6, a firing member or knife member 2620 isattached to the distal end of the firing bar 2610. In one exemplaryform, the firing member 2620 comprises a body portion 2622 that supportsa knife or tissue cutting portion 2624. The body portion 2622 protrudesthrough an elongate slot or channel 2113 in the frame 2112 andterminates in a foot member 2626 that extends laterally on each side ofthe body portion 2622. As the firing member 2620 is driven distallythrough the surgical staple/fastener cartridge 2150, the foot member2626 rides within a passage in the frame 2112 that is located under thesurgical staple/fastener cartridge 2150. The tissue cutting portion 2624is disposed between a distally protruding top nose portion and the footmember 2626. As can be further seen in FIG. 6, the firing member 2620may further include two laterally extending top tabs, pins or anvilengagement features 2628. As the firing member 2620 is driven distally,a top portion of the body portion 2622 extends through a centrallydisposed anvil slot 2206 and the anvil engagement features 2634 ride oncorresponding anvil ledges 2208 formed on each side of the anvil slot2206. See FIG. 7. The firing member 2620 is configured to operablyinterface with a sled assembly that is operably supported within a body2152 of the surgical staple/fastener cartridge 2150. The sled assemblyis slidably displaceable within the surgical staple/fastener cartridgebody 2152 from a proximal starting position adjacent the proximal end ofthe cartridge body 2152 to an ending position adjacent a distal end ofthe cartridge body 2152. The cartridge body 2152 operably supportstherein a plurality of staple drivers that are aligned in rows on eachside of the centrally disposed slot 2154. As indicated above, thecentrally disposed slot 2154 enables the firing member 2620 to passtherethrough and cut the tissue that is clamped between the anvil 2202and the surgical staple/fastener cartridge 2150. The staple drivers areassociated with corresponding staple/fastener pockets 2156 that openthrough an upper deck surface of the cartridge body 2152. Each of thestaple drivers supports one or more surgical staples or fastenersthereon. The sled assembly includes a plurality of sloped orwedge-shaped cams wherein each cam corresponds to a particular line offasteners or drivers located on a side of the slot. In addition, afiring member lockout system 2630 may be employed to prevent inadvertentactuation or stated another way distal advancement of the firing member2620 from a starting position unless an unfired “fresh” surgical staplecartridge 2150 has been properly supported in the frame. For example,the firing member body 2622 is provided with a tippable element 2632that is movable between a locked and unlocked position. A lockout spring2633 is provided to bias the tippable element 2632 into the lockedposition unless the tippable element 2632 is moved to the unlockedposition when engaged with a sled assembly in the surgical staplecartridge 2150. Further details regarding the firing member lockoutsystem 2660 may be found in U.S. patent application Ser. No. 15/635,521,entitled SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT, the entire disclosureof which is hereby incorporated by reference herein.

In accordance with at least one general aspect, the firing bar 2610 isconfigured to be attached to a firing rod 3230 that is movably supportedwithin the tool frame assembly 2320 of the elongate shaft assembly 2300.In particular, a firing bar attachment tab 2614 is formed on a proximalend 2616 of the firing bar 2610 (FIG. 6) and is configured to bereceived within an attachment slot that is provided in a distal endportion of the firing rod 3230.

FIGS. 16 and 17 illustrate the various above described components of theshaft assembly 2300 in respective neutral coupling positions thatfacilitate their operable interface with corresponding portions of drivesystems and support structures of a controller interface to which thesurgical tool is attached. As can be seen in those Figures, the outerhousing or proximal closure tube 2410 includes a proximal end orproximal coupler portion 2416 that includes an annular attachment groove2418. FIGS. 16 and 17 illustrate the proximal coupler portion 2416 inits corresponding neutral coupling position generally designated as2417. As described above, the outer housing or proximal closure tube2410 is supported for axial movable travel on the tool frame assembly2320 and more particularly on the proximal tool frame portion 2322thereof. As shown in FIGS. 16 and 17, the tool frame assembly 2320includes a proximal coupler portion 2326 that includes two frameattachment grooves 2328. FIGS. 16 and 17 illustrate the proximal couplerportion 2326 in its corresponding neutral coupling position, generallydesignated as 2327.

As discussed above, the right articulation driver 2510 is supported forselective axial movable travel relative to the tool frame assembly 2320.FIGS. 16 and 17, further illustrate that in at least one form, the rightarticulation driver 2510 includes a tubular proximal end portion orproximal coupler portion 2514 that includes a right attachment collar2516. FIGS. 16 and 17 illustrate the proximal coupler portion 2514 inits corresponding neutral coupling position, generally designated as2517. Similarly, the left articulation driver 2530 is supported forselective axial movable travel relative to the tool frame assembly 2320.FIGS. 16 and 17, further illustrate that in at least one form, the leftarticulation driver 2530 includes a tubular proximal end portion orproximal coupler portion 2534 that includes a left attachment collar2536. FIGS. 16 and 17 illustrate the proximal coupler portion 2534 inits corresponding neutral coupling position, generally designated as2537.

As mentioned above, the firing rod 3230 is movably supported within thetool frame assembly 2320. More particularly, the firing rod 3230 issupported for axial travel within the tool fame assembly 2320. Thefiring rod 3230 includes a proximal end or proximal coupler portion 3232that has an attachment lug 3234 formed thereon. FIGS. 16 and 17illustrate the proximal coupler portion 3232 in its correspondingneutral coupling position, generally designated as 3237.

In accordance with one aspect, when the proximal coupler portions 2416,2326, 2534, 2514, 3232 are each in their respective neutral couplingpositions, they are in a predetermined serial axial alignment tofacilitate interfacing with corresponding drive systems or components ofa controller interface. In the example depicted in FIGS. 16 and 17, theneutral coupling position 3237 is proximal to the neutral couplingposition 2517, which is proximal to neutral coupling position 2537,which is proximal to neutral coupling position 2527, which is proximalto neutral coupling position 2417. These neutral coupling positions mayalso be referred to as starting positions. Other serial axialarrangements of neutral coupling positions are contemplated.

In accordance with another general aspect, a spacing lock 2710 isoperably supported in a docking housing 2700 of the surgical tool 2000to retain the proximal coupler portions 2416, 2326, 2534, 2514, 3232 intheir respective neutral coupling positions. More specifically and withreference to FIGS. 18-21, the docking housing 2700 is attached to aproximal end 2301 of the elongate shaft assembly 2300 and movablysupports the spacing lock 2710 therein. As will be further discussedbelow, the docking housing 2700 may serve to facilitate operableattachment of the surgical tool to an appropriate controller interface.As can be seen in FIGS. 18-21, in at least one example, the spacing lock2710 is supported for movable travel between a locked position and anunlocked position represented by arrows 2712 and 2714. The spacing lock2710 is configured to releasably engage each of the proximal couplerportions 2416, 2326, 2534, 2514, 3232 and retain them in theirrespective neutral coupling positions when the tool assembly is notcoupled to a controller interface. In at least one arrangement, to keepthe spacing lock 2710 in an axially aligned position, at least oneslider support 2711 extends laterally from the spacing lock 2710 to beslidably received in a slot that is formed in the docking housing 2700.

As can be seen in FIGS. 18-21, in the illustrated example, the spacinglock 2710 includes a closure lock or key 2720 that is configured to bereceived within the annular groove 2418 in the proximal coupler portion2416 of the outer housing or proximal closure tube 2410 to prevent axialmovement thereof. The spacing lock 2710 further comprises a frame lockarrangement that comprises a pair of frame keys 2722 that are configuredto be received within the annular grooves 2328 in the proximal couplerportion 2326 of the tool frame assembly 2320. In addition, the spacinglock 2710 comprises a left articulation groove or locking detent 2726that is configured to retainingly engage the left attachment collar 2536of the proximal coupler portion 2534 of the left articulation driver2530. Likewise, spacing lock 2710 comprises a right articulation grooveor locking detent 2728 that is configured to retainingly engage theright attachment collar 2516 on the proximal coupler portion 2514 of theright articulation driver 2510. As can also be seen in FIGS. 18-21, thespacing lock 2710 further comprises a firing key 2729 that is configuredto retainingly engage a reduced neck portion 3236 on the proximalcoupler portion 3237 of the firing rod 3230. FIGS. 18-21 illustrate thespacing lock 2710 in a locked position. In at least one arrangement, thespacing lock 2710 is biased into the locked configuration by biasers orsprings 2730.

In one aspect of the disclosure, the surgical tool 2000 may beinterchangeably employed with a first controller interface that supportsa plurality of corresponding control systems that are configured toapply appropriate control motions to the various driver components ofthe surgical tool 2000 and at least a second controller interface thatis not identical to or is different from the first controller interface,yet possesses similar (at least from a functional standpoint) controlsystems that are configured to apply the appropriate control motions tothe various driver arrangements of the surgical tool 2000. In oneaspect, for example, a first controller interface may comprise ahandheld controller and a second controller interface may comprise atool mounting portion of a robotic system or other automated systemdesigned to support and manipulate surgical tool(s). In this context,for example, a “handheld” controller may be configured to be supportedin the clinician's hand and manually manipulated. While such handheldcontrollers may in some cases include onboard motors and power sourcesand/or microprocessor(s), etc. to provide and/or monitor or control therespective control systems needed to power the various driver and otherelements of the surgical tool 2000, such devices may also, or in thealternative, include power cords or tethers that are designed tofacilitate transport of power and/or electrical signals to the device.In any event, such handheld controllers are designed to be held in thehand and manually manipulated.

One example of a first controller interface 3000 that comprises ahandheld controller 3002 that is configured to operably interface with asurgical tool 2000 is depicted in FIGS. 23-25. One example of a secondcontroller interface 3500 that comprises a tool mounting portion 3502that is operably attachable to a tool holder of a robotic system 1000 isdepicted in FIGS. 28 and 29. Other forms of first controller interfacesand second controller interfaces including other forms handheldcontrollers and robotically controlled tool holders/systems arecontemplated.

As can be seen in FIGS. 22 and 23, the handheld controller 3002comprises a handle assembly 3010 that comprises a handle housing 3012that includes a pistol grip portion 3014. A nozzle assembly 3030 isrotatably mounted to the handle housing 3012 for selective rotationabout a handle axis HA. In the illustrated arrangement, a docking cavity3032 is provided in the nozzle assembly 3030 to facilitate mounting ofthe docking housing 2700 of a surgical tool 2000 therein. The dockinghousing 2700 may be removably retained in engagement with the nozzleassembly 3030 by friction, releasable latch arrangements, etc. Tooperably couple the surgical tool 2000 to the handle assembly 3010, thedocking housing 2700 is positioned for insertion into the docking cavity3032 in an installation direction ID that is orthogonal to a handle axisHA. As can be seen in FIG. 18, the docking housing 2700 may includeelectrical connectors 2705 that are configured to interface withcorresponding electrical connectors that are supported in the controllerinterface to which the surgical tool 2000 is attached. Such arrangementserves to facilitate transfer of power and electrical signals betweenvarious components of the controller interface and onboard electricalcomponents (switches, microprocessors, etc.) that are included in thesurgical tool 2000.

In at least one example, a frame mount 3016 is fixedly coupled to thenozzle assembly 3030 and includes two frame attachment features or lugs3017 thereon that are adapted to be received in the frame attachmentgrooves 2328 in the proximal coupler portion 2326 of the tool frameassembly 2320 when the surgical tool 2000 is attached to the handheldcontroller 3002. See FIG. 24. The frame attachment lugs 3017 may besized or otherwise shaped to be releasably frictionally received withintheir respective frame attachment grooves 2328. Once the frameattachment lugs 3017 are snapped into the frame grooves 2328 orotherwise retained therein, rotation of the nozzle assembly 3030relative to the handle housing 3012 will result in rotation of thesurgical end effector 2100 relative to the longitudinal axis LA andhandle axis HA.

As indicated above, the handle housing 3012 may operably support aplurality of drive systems therein. For example, the handle housing 3012can operably support a closure drive system, generally designated as3100, which may be employed to apply closing and opening motions to thesurgical tool 2000 that is operably attached or coupled to the handleassembly 3010. In at least one form, the closure drive system 3100 mayinclude an actuator in the form of a closure trigger 3104 is pivotallysupported by the handle housing 3012. Such arrangement enables theclosure trigger 3104 to be manipulated by a clinician such that, whenthe clinician grips the pistol grip portion 3014 of the handle assembly3010, the closure trigger 3104 may be easily pivoted from a starting or“unactuated” position to an “actuated” position and more particularly toa fully compressed or fully actuated position. In various forms, theclosure drive system 3100 further includes a closure linkage assembly3108 that movably interfaces with the closure trigger 3104 or isotherwise operably attached thereto. See FIG. 24. In the illustratedexample, the closure linkage assembly 3108 includes a mounting lug orfeature 3110 that is configured to be operably received within theattachment groove 2418 in the proximal coupler portion 2416 of theproximal closure tube or outer housing 2410 that facilitates operableattachment to the closure drive system 3100. In use, to actuate theclosure drive system 3100, the clinician depresses the closure trigger3104 towards the pistol grip portion 3014. As described in furtherdetail in U.S. patent application Ser. No. 14/226,142, entitled SURGICALINSTRUMENT COMPRISING A SENSOR SYSTEM, now U.S. Patent ApplicationPublication No. 2015/0272575, which is hereby incorporated by referencein its entirety herein, the closure drive system 3100 may be configuredto lock the closure trigger 3104 into the fully depressed or fullyactuated position when the clinician fully depresses the closure trigger3104 to attain the full closure stroke. When the clinician desires tounlock the closure trigger 3104 to permit the closure trigger 3104 to bebiased to the unactuated position, the clinician activates a closurerelease button assembly 3112 which enables the closure trigger 3104 toreturn to its unactuated position. The closure release button assembly3112 may also be configured to interact with various sensors thatcommunicate with a microprocessor in the handle assembly 3010 fortracking the position of the closure trigger 3014. Further detailsconcerning the configuration and operation of the closure release buttonassembly 3112 may be found in U.S. patent application Ser. No.14/226,142, entitled SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM, nowU.S. Patent Application Publication No. 2015/0272575, which is herebyincorporated by reference in its entirety herein.

In at least one form, the handle housing 3012 may operably supportanother drive system referred to herein as a firing drive system 3200that is configured to apply firing motions to corresponding portions ofthe interchangeable surgical tool 2000 that is attached thereto. As wasdescribed in further detail in U.S. Patent Application Publication No.2015/0272575, the firing drive system 3200 may employ an electric motor3210 that is located in the pistol grip portion 3014 of the handleassembly 3010. In various forms, the motor 3210 may be a DC brusheddriving motor having a maximum speed of approximately 25,000 RPM, forexample. In other arrangements, the motor 3210 may include a brushlessmotor, a cordless motor, a synchronous motor, a stepper motor, or anyother suitable electric motor. The motor 3210 may be powered by a powersource 3212 that in one form may comprise a removable power pack. Thepower pack may support a plurality of Lithium Ion (“LI”) or othersuitable batteries therein. A number of batteries connected in seriesmay be used as the power source 3212 for the surgical controller 3000.In addition, the power source 3212 may be replaceable and/orrechargeable.

Turning to FIGS. 24 and 25, the electric motor 3210 is configured toaxially drive a longitudinally movable drive member 3220 in a distal andproximal directions depending upon the polarity of the voltage appliedto the motor. For example, when the motor is driven in one rotarydirection, the longitudinally movable drive member 3220 will be axiallydriven in a distal direction DD. When the motor 3210 is driven in theopposite rotary direction, the longitudinally movable drive member willbe axially driven in a proximal direction PD. The handle assembly 3010can include a switch 3214 which can be configured to reverse thepolarity applied to the electric motor 3210 by the power source 3212 orotherwise control the motor 3210. The handle assembly 3010 can alsoinclude a sensor or sensors that are configured to detect the positionof the drive member and/or the direction in which the drive member isbeing moved. Actuation of the motor 3210 can be controlled by a firingtrigger 3216 (FIG. 22) that is pivotally supported on the handleassembly 3010. The firing trigger 3216 may be pivoted between anunactuated position and an actuated position. The firing trigger 3216may be biased into the unactuated position by a spring or other biasingarrangement such that, when the clinician releases the firing trigger3216, the firing trigger 3216 may be pivoted or otherwise returned tothe unactuated position by the spring or biasing arrangement. In atleast one form, the firing trigger 3216 can be positioned “outboard” ofthe closure trigger 3104 as was discussed above. As discussed in U.S.Patent Application Publication No. 2015/0272575, the handle assembly3010 may be equipped with a firing trigger safety button to prevent theinadvertent actuation of the firing trigger 3216. When the closuretrigger 3104 is in the unactuated position, the safety button iscontained in the handle assembly 3010 where the clinician cannot readilyaccess it and move it between a safety position preventing actuation ofthe firing trigger 3216 and a firing position wherein the firing trigger3216 may be fired. As the clinician depresses the closure trigger 3216,the safety button and the firing trigger 3216 pivot downwardly wherethey can then be manipulated by the clinician.

In at least one form, the longitudinally movable drive member 3220 mayhave a rack of teeth formed thereon for meshing engagement with acorresponding drive gear arrangement that interfaces with the motor3210. Further details regarding those features may be found in U.S.Patent Application Publication No. 2015/0272575. In at least one form,the handle assembly 3010 also includes a manually-actuatable “bailout”assembly that is configured to enable the clinician to manually retractthe longitudinally movable drive member should the motor 3210 becomedisabled. The bailout assembly may include a lever or bailout handleassembly that is stored within the handle assembly 3010 under areleasable door 3018. See FIG. 23. The lever may be configured to bemanually pivoted into ratcheting engagement with the teeth in the drivemember. Thus, the clinician can manually retract the drive member 3220by using the bailout handle assembly to ratchet the drive member in theproximal direction PD. U.S. Pat. No. 8,608,045, entitled POWEREDSURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRINGSYSTEM, the entire disclosure of which is hereby incorporated byreference herein, discloses bailout arrangements and other components,arrangements and systems that may also be employed with any one of thevarious surgical tools disclosed herein.

When the surgical tool 2000 is attached to the first controllerinterface 3002, the attachment lug 3234 on the proximal coupler portion3232 of the firing rod 3230 is operably received within an attachmentcradle 3226 that is formed on a distal end 3224 of the longitudinallymovable drive member 3220. When the attachment lug 3234 is receivedwithin the attachment cradle 3226, the firing rod 3230 is operablycoupled to the firing drive system 3200. Actuation of the firing drivesystem 3200 will cause the longitudinally movable drive member 3220 aswell as the firing rod 3230 to move axially. Movement of the firing rod3230 in the distal direction DD, will cause the firing bar 2610 as wellas the cutting member 2620 attached thereto to also move distally. Whentissue is clamped between the cartridge jaw and the anvil jaw, distalmovement of the firing bar 2610 will cause the tissue clamped therein tobe severed and the staples stored in the cartridge to be attached to thecut tissue on each side of the tissue cut line.

The handle housing 3012 may operably support another drive systemreferred to herein as an articulation drive system 3300 that isconfigured to apply articulation motions to the corresponding portionsof the interchangeable surgical tool 2000 that is attached thereto. Forexample, the articulation drive system 3300 may apply articulationmotions to the right articulation driver 2510 and the left articulationdriver 2530 to selectively articulate the surgical end effector 2100about the pivot axis PA defined by the articulation joint 2350. See FIG.8. In the illustrated arrangement, for example, the articulation drivesystem 3300 may comprise an articulation motor 3310 that is operablysupported by the handle housing 3012. See FIG. 25. In at least onearrangement, an articulation drive gear 3312 is attached to thearticulation motor 3310. The articulation drive gear 3312 is in meshingengagement with a right articulation drive rack 3320 that is supportedfor axial travel in the handle assembly 3010. As can be seen in FIG. 25,for example, a proximal end portion 2514 of the right articulationdriver 2510 is tubular in nature. In the illustrated arrangement forexample, the firing rod 3230 extends therethrough and is movablysupported therein. The right articulation drive rack 3320 includes aright engagement cradle 3322 that is configured to receive the rightattachment collar 2516 of the proximal coupler portion 2514 of the rightarticulation driver 2510. Similarly, the articulation drive gear 3312 isin meshing engagement with a left articulation drive rack 3330 that issupported for axial travel in the handle assembly 3010. The leftarticulation drive rack 3330 includes a left engagement cradle 3332 thatis configured to receive the left attachment collar 2536 of the proximalcoupler portion 2534 of the left articulation driver 2530. Thearticulation motor 3310 may be controlled by a switch 3314 (or switches)on the handle assembly 3010. Thus, rotation of the articulation drivegear 3312 in a first rotary direction will drive the right articulationdrive rack 3320 as well as the right articulation driver 2510 in thedistal direction and the left articulation drive rack 3330 and the leftarticulation driver 2530 in the proximal direction which will result inthe articulation of the surgical end effector 2100 to the left about thepivot axis. Likewise, rotation of the articulation drive gear 3312 in asecond rotary direction will drive the right articulation drive rack3320 as well as the right articulation driver 2510 in the proximaldirection and the left articulation drive rack 3330 and the leftarticulation driver 2530 in the distal direction which will result inthe articulation of the surgical end effector 2100 to the right aboutthe pivot axis. In certain embodiments, different gear arrangements maybe employed to attain different articulation stroke lengths. Forexample, in at least one arrangement, the right and left articulationstroke lengths are equal. In other arrangements, the right and leftarticulation stroke lengths are not equal. In still other arrangements,the right articulation driver 2510 is axially moved by a dedicated rightarticulation motor and the left articulation driver 2530 is axiallymoved by a dedicated left articulation motor. The onboard microprocessorin the handle assembly may control the right and left articulationmotors to attain the desired right and left articulation strokes.

When the surgical tool 2000 is detached from the handle assembly 3010 orthe tool mounting portion of a robotic system, the outer housing orproximal closure tube 2410, the right articulation driver 2510, the leftarticulation driver 2530 as well as firing rod 3230 are retained in aserial docking alignment relative to each other in their respectiveneutral coupling positions by the spacing lock 2710 (FIGS. 18-21). Thespacing lock 2710 serves to maintain the proximal coupler portions 2416,2326, 2534, 2514, 3232 in serial docking alignment so they may operablyengage the drive portions of the corresponding drive systems in thehandle assembly 3010 or other controller interface. When the clinicianproperly inserts a portion of the docking housing 2700 into the dockingcavity 3032 in the nozzle assembly 3030 of the handle assembly 3010, anunlocking portion 2740 of the spacing lock 2710 is brought intoengagement with the longitudinally movable drive member 3220 to therebybias the spacing lock 2710 out of retaining engagement to enable theouter housing or proximal closure tube 2410, the firing rod 3230, theright articulation driver 2510 and the left articulation driver 2530 tomove axially in response to corresponding control motions appliedthereto. See FIGS. 26-28. However, once the surgical tool 2000 isdetached from the housing assembly 3010 (moved in the direction 2714),the springs 2730 will bias the spacing lock 2710 back into the lockedorientation shown in FIGS. 18-21. Such locked arrangement enables thesurgical tool 2000 to be reattached to the handle assembly 3010 or toolholder portion of a robotic system (second control interface) asdesired.

As noted above, the surgical tool 2000 is configured to beinterchangeably operably attachable to a first controller interface thatsupports a plurality of corresponding control systems that areconfigured to apply appropriate control motions to the variouscomponents of the surgical tool 2000 and at least a second controllerinterface that is not identical to or is different from the firstcontroller interface, yet possesses similar (at least from a functionalstandpoint) control systems that are configured to apply the appropriatecontrol motions to the various driver arrangements of the surgical tool2000. For example, in addition to being interchangeably operablycouplable to a first controller interface 3000 which may comprise ahandheld controller 3002, the surgical tool 2000 may be operablycouplable to a second controller interface that may, for example,comprise a portion of a robotically-controlled system.

Turning to FIGS. 28 and 29, the surgical tool 2000 may be configured tooperably interface with a second controller interface 3500 thatcomprises a tool mounting portion 3502 that is operably attachable to atool holder of a robotic system 1000, for example. In at least onearrangement, the tool mounting portion 3502 comprises a housing 3510that operably supports a plurality of robotically-controlled drivesystems. For example, the tool mounting portion 3500 supports a closuredrive system, generally designated as 3600, which may be employed toapply closing and opening motions to the surgical tool 2000 that isoperably attached or coupled to the tool mounting portion 3502. As canbe seen in FIG. 29, the closure drive system 3600 comprises an axiallymovable closure coupler 3610 that is configured to move distally andproximally in response to closure motions applied thereto by therobotically-controlled closure drive system 3600. The closure coupler3610 comprises a mounting lug or mounting feature 3612 that isconfigured to be operably received within the attachment groove 2418 ofthe proximal coupler portion 2416 of the proximal closure tube or outerhousing 2410 that facilitates operable attachment to the closure drivesystem 3600. When the surgical tool 2000 is attached to the toolmounting portion 35020 as shown in FIG. 29, actuation of the closuredrive system 3600 will result in the axial movement of the outer housingor proximal closure tube 2410 of the shaft assembly 2300.

Still referring to FIG. 29, in the illustrated arrangement, the toolmounting portion 3502 comprises a channel retainer mount 3520 that hasframe attachment lugs 3522 that are configured to be retaininglyreceived within the corresponding frame attachment grooves 2328 of theproximal coupler portion 2326 of the tool frame assembly 2320. Sucharrangement serves to removably couple the proximal coupler portion 2326of the tool frame assembly 2320 to the tool mounting portion 3502. In atleast one form, the tool mounting portion 3502 operably supports afiring drive system 3700 that is configured to apply firing motions tothe firing rod 3230 of the surgical tool 2000. As can be seen in FIG.29, a firing drive shaft 3702 is supported for axial travel in responseto firing control motions generated by the robotically-controlled firingdrive system 3700. The attachment lug 3234 on the firing rod 3230 isadapted to be operably received within an attachment cradle 3706 formedon a distal end 3704 of the longitudinally movable firing drive shaft3702. When the attachment lug 3234 is received within the attachmentcradle 3706, the firing rod 3230 is operably coupled to the roboticallycontrolled firing drive system 3700. Actuation of the firing drivesystem 3700 will cause the longitudinally movable firing drive shaft3702 as well as the firing rod 3230 to move axially. Movement of thefiring rod 3230 in the distal direction DD, will cause the firing bar2610 as well as the cutting member 2620 attached thereto to also movedistally. When tissue is clamped between the cartridge jaw and the anviljaw, distal movement of the firing bar 2610 will cause the tissueclamped therein to be severed and the staples stored in the cartridge tobe attached to the cut tissue on each side of the tissue cut line.

The tool mounting portion 3500 may operably support another drive systemreferred to herein as a robotically-controlled articulation drive system3800 that is configured to apply articulation motions to thecorresponding portions of the surgical tool 2000 that is attachedthereto. For example, the robotically-controlled articulation drivesystem 3800 may apply articulation motions to the right articulationdriver 2510 and the left articulation driver 2530 to selectivelyarticulate the surgical end effector 2100 about the pivot axis PAdefined by the articulation joint 2350. In the illustrated arrangement,for example, a right articulation drive member 3820 is supported foraxial travel on the tool mounting portion 3500 in response to controlmotions generated by the robotically-controlled articulation drivesystem 3800. The right articulation drive member 3820 includes a rightengagement cradle 3822 that is configured to receive the rightattachment collar 2516 of the proximal coupler portion 2514 of the rightarticulation driver 2510. In addition, a left articulation drive memberrack 3830 is supported for axial travel in the tool mounting portion3500 in response to control motions generated by therobotically-controlled articulation drive system 3800. The leftarticulation drive member 3830 includes a left engagement cradle 3832that is configured to receive the left attachment collar 2536 of theproximal coupler portion 2534 of the left articulation driver 2530.Actuation of the right and left articulation drive members 3820, 3830may be controlled by the control system controlling the articulationdrive system 3800 such that as the right articulation drive member 3820is moved distally, the left articulation member 3830 is moved proximallyand vice versa to achieve the desired amount of articulation of thesurgical end effector 2100. Various control arrangements are furtherdescribed in U.S. patent application Ser. No. 15/636,858, entitledSYSTEM FOR CONTROLLING ARTICULATION FORCES, the entire disclosure ofwhich has been incorporated by reference herein.

As can be seen in FIG. 28, an open docking cavity 3512 sized to receivethe docking housing 2700 therein is provided in the housing 3510 of thetool mounting portion 3502. To operably couple the surgical tool 2000 tothe tool mounting portion 3502, the docking housing 2700 is positionedfor insertion into the docking cavity 3512 and is moved in aninstallation direction ID that is orthogonal to a longitudinal mountaxis MA until the modular shaft nozzle portion 2700 retainingly engagesthe housing 3512. The modular docking housing 2700 may be removablyretained in engagement with the housing by friction, releasable latcharrangements, snap features, etc. When the clinician properly docks thedocking housing 2700 within the docking cavity 3512 in the housing 3510,the unlocking member 2740 on the spacing lock 2710 is brought intoengagement with the longitudinally movable firing drive shaft 3702 tobias the spacing lock 2710 out of retaining engagement with the couplerportions 2416, 2326, 2534, 2514, 3232 in the manner described above. SeeFIG. 29. However, once the surgical tool 2000 is detached from the toolmounting portion 3502 (moved in the direction 2714), the springs 2730will bias the spacing lock 2710 back into the locked orientation. Suchlocked arrangement enables the surgical tool 2000 to be reattached tothe handheld housing or robotic system as desired.

Thus, in accordance with at least one aspect, the surgical tool may beinterchangeably employed with a plurality of controller interfaces thatmay not be identical to each other. For example, the surgical tool 2000may be operably coupled to one of the first controller interface 3000and the second controller interface 3500, used thereon, and thendetached therefrom to be operably attached to the second controllerinterface 3500 or vice versa. This may occur during a single operationwherein both of the controller interfaces 3000, 3500 are located withina single surgical suite. In other arrangements, the surgical tool 2000may be used in connection with one of the controller interfaces 3000,3500 and then re-sterilized for use in connection with another one ofthe first and second controller interfaces. Regardless of whichcontroller interface with which the surgical tool 2000 is initiallyemployed, after use of the surgical tool has been completed, the drivesystems should be actuated to return each of the coupler portions 2416,2326, 2534, 2514, 3232 to their respective neutral coupling positionbefore the surgical tool 2000 is detached from the controller interface.Once the proximal coupler portions 2416, 2326, 2534, 2514, 3232 havebeen brought into their respective neutral coupling position, thesurgical tool 2000 may be detached from the controller interface bymoving the docking housing 2700 in a detachment direction that isopposite to the installation direction ID. Once the unlocking member2740 on the spacing lock 2710 is disengaged from the longitudinallymovable firing drive shaft 3702, the spacing lock will be biased intolocking engagement with each of the proximal coupler portions 2416,2326, 2534, 2514, 3232.

FIGS. 30-77 depict a surgical instrument assembly 4000 configured to beused with a surgical robot. The surgical instrument assembly 4000 isconfigured to staple and cut tissue, although the surgical instrumentassembly 4000 could be adapted to treat tissue in any suitable way, suchas by applying heat energy, electrical energy, and/or vibrations to thetissue, for example. Moreover, the surgical instrument assembly 4000 ismodular and is configured to be interchangeable with other surgicalinstrument assemblies having the same and/or different functionalities.Referring to FIG. 30, the surgical instrument assembly 4000 comprises,one, a sterile barrier 4100 configured to receive drive motions from asurgical robot interface of the surgical robot to which the sterilebarrier 4100 is attached and, two, a control assembly 5000 configured toreceive the drive motions from the sterile barrier 4100. As discussed ingreater detail below, the surgical instrument assembly further comprisesa shaft assembly 6000 configured to receive the drive motions from thecontrol assembly 5000.

As discussed above, the sterile barrier 4100 is configured to beoperably attached to a surgical robot interface and the control assembly5000 is configured to be operably coupled with the sterile barrier 4100.When the sterile barrier 4100 is attached to the surgical robotinterface, the sterile barrier 4100 is configured to transmit drivemotions from the surgical robot interface to the control assembly 5000by way of a plurality of drive discs. The control assembly 5000 and thesurgical robot interface are physically separated by the sterile barrier4100 and, as a result, can be handled by different clinicians indifferent sterile fields. The drive discs of the surgical robotinterface are configured to drive five primary drive systems of thecontrol assembly 5000 which are discussed below.

The control assembly 5000 is configured to be attached to the sterilebarrier 4100 after the sterile barrier 4100 is already coupled to thesurgical robot. Alternatively, the control assembly 5000 and the sterilebarrier 4100 can be assembled prior to being attached to the surgicalrobot. Referring primarily to FIG. 31, the sterile barrier 4100comprises a frame portion 4101 and a floating plate assembly 4108comprising a plurality of drive discs nested therein. The floating plateassembly 4108 is configured to move vertically within the frame portion4101 to permit the disengagement between the drive discs of the sterilebarrier 4100 and the drive discs of the control assembly 5000 so thatthe control assembly 5000 may be attached to and detached from thesterile barrier 4100. The surgical robot interface may comprisecorresponding vertically-movable drive outputs to permit the verticalmovement of the floating plate assembly 4108 while maintaining drivingengagement between the drive outputs and the drive discs of the surgicalrobot interface.

Referring primarily to FIGS. 32, 36, and 40, the floating assembly 4108of the sterile barrier 4100 comprises a robot-facing plate 4110, aninstrument-facing plate 4120, and a plurality of drive discs 7100, 8100,9100, 10100, and 11100 nested between the robot-facing plate 4110 andthe instrument-facing plate 4120. The robot-facing plate 4110 faces thesurgical robot interface and comprises spring members 4112 configured tobias the robot-facing plate 4110 and, thus, the instrument-facing plate4120 and the drive discs 7100, 8100, 9100, 10100, and 11100 toward thecontrol assembly 5000. The floating plate assembly 4108 is biased towardthe control assembly 5000 to maintain driving engagement between thedrive discs 7100, 8100, 9100, 10100, and 11100 and the drive discs ofthe control assembly 5000. The spring members 4112 permit the floatingplate assembly 4108 to be pushed away from the control assembly todisengage the drive discs of the control assembly 5000 from the drivediscs 7100, 8100, 9100, 10100, and 11100. The robot-facing plate 4110also comprises alignment features 4114 configured to align withcorresponding alignment features of the surgical robot interface and, asa result, align the sterile barrier 4100 with the surgical robotinterface when the sterile barrier 4100 is assembled to the surgicalrobot interface.

To couple the sterile barrier 4100 and the control assembly 5000, thesterile barrier 4100 and the control assembly 5000 comprise variouscooperating alignment elements which assist in the assembly of thesterile barrier 4100 and the control assembly 5000. As seen in FIG. 36,the control assembly 5000 comprises a lower housing 5100 and an upperhousing 5200. The lower housing 5100 comprises alignment features 5120configured to be received by corresponding alignment apertures 4122 ofthe instrument-facing plate 4120. The control assembly 5000 alsocomprises a tab 5130 extending from the lower housing 5100. The tab 5130is configured to be received by an alignment notch 4102 defined in thesterile barrier 4100 when the control assembly 5000 is attached to thesterile barrier 4100. Similarly, referring to FIG. 40, the shaftassembly 6000 is configured to be received within a shaft-receivingnotch 4104 of the sterile barrier 4100 in a snap-fit fashion, forexample, when the control assembly 5000 is attached to the sterilebarrier 4100.

Referring now to FIG. 36, the sterile barrier 4100 also comprises anotch 4106 defined therein configured to house the floating plateassembly 4108. The notch 4106 permits the robot-facing plate 4110, theinstrument-facing plate 4120, and the drive discs 7100, 8100, 9100,10100, and 11100 to move relative to the frame portion 4101 of thesterile barrier 4100. This relative movement allows for space betweenthe robot-facing plate 4110 and the surgical robot interface so that thedrive discs 7100, 8100, 9100, 10100, and 11100 and the correspondingdrive discs of the surgical robot interface may be properly alignedbefore engaging each other. This relative movement also allows for adecoupling mechanism 5400 to disengage the drive discs 7100, 8100, 9100,10100, and 11100 from the control assembly 5000 so that the controlassembly 5000 may be decoupled from the sterile barrier 4100.

Referring primarily to FIG. 40, the decoupling mechanism 5400 comprisestwo levers 5410 configured to disengage the control assembly 5000 andthe sterile barrier 4100. Each lever 5410 is mounted to a bar 5420comprising a plurality of pushing members 5430. Each lever 5410 isspring loaded against the lower housing 5100 with springs 5412 suchthat, when the levers 5410 are squeezed, the bars 5420 rotate downwardlyand, thus, the pushing members 5430 rotate downwardly. Upon releasingthe levers 5410, the levers 5410 are configured to be biased outwardlyinto their unengaged configuration by the springs 5412. The pushingmembers 5430 extend through apertures 5150 defined in the lower housing5100 so that the pushing members 5430 can push the instrument-facingplate 4120 downwardly to disengage the alignment features 5120 from theapertures 4122 and to disengage the drive discs 7100, 8100, 9100, 10100,and 11100 from the control assembly 5000 such that the control assembly5000 may be decoupled from the sterile barrier 4100.

Referring primarily to FIGS. 31 and 32, the surgical instrument assembly4000 comprises a shaft rotation drive system 7000, a first articulationdrive system 8000, a second articulation drive system 9000, a closuredrive system 10000, and a firing drive system 11000. The drive disc 7100is configured to drive the shaft rotation drive system 7000, the drivedisc 8100 is configured to drive the first articulation drive system8000, the drive disc 9100 is configured to drive the second articulationdrive system 9000, the drive discs 10100 are configured to drive theclosure drive system 10000, and the drive disc 11100 is configured todrive the firing drive system 11000.

Referring to FIG. 31, the shaft rotation drive system 7000 is configuredto rotate the shaft assembly 6000 about a longitudinal axis LA.Referring now to FIG. 38, the shaft rotation drive system 7000 comprisesan input drive disc 7110 operably coupled with the drive disc 7100 (FIG.32) of the sterile barrier 4100. The input drive disc 7110 is fixedlyattached to a drive shaft 7120 and is configured to rotate the driveshaft 7120 when the input drive disc 7110 is rotated. The drive shaft7120 is configured to rotate a spur gear 7130 which is fixedly attachedto the drive shaft 7120. The spur gear 7130 is operably meshed with aspur gear 7150. The spur gear 7150 is fixedly attached to a transfershaft 7160 which, when rotated by the spur gear 7150, is configured torotate a helical gear 7170 which is also attached to the drive shaft7160. The helical gear 7170 is operably meshed with another helical gear7180, which, referring to FIG. 31, is operably coupled with a proximalend 6702 (FIG. 33) of a spine 6700 of the shaft assembly 6000 such thatthe rotation of the helical gear 7180 rotates the spine 6700 and, thus,the shaft assembly 6000 about its longitudinal axis LA.

As seen in FIG. 31, the first articulation drive system 8000 and thesecond articulation drive system 9000 are configured to cooperativelyarticulate the end effector 2100 of the shaft assembly 6000. The firstarticulation drive system 8000 and the second articulation drive system9000 are configured to cooperatively actuate the articulation drivers2510, 2530 (FIG. 43). The articulation drive systems 8000 and 9000 areconfigured to be antagonistically operated such that one of thearticulation drive systems 8000, 9000 pulls one of the articulationdrivers 2510, 2530 proximally and the other of the articulation drivesystems 8000, 9000 pushes the other of the articulation drivers 2510,2530 distally. That said, the drive systems 8000 and 9000 can beoperated independently without the other being operated.

Referring again to FIG. 38, the first articulation drive system 8000comprises an input drive disc 8110 operably coupled with the drive disc8100 (FIG. 32) of the sterile barrier 4100. The input drive disc 8110 isfixedly attached to a drive shaft 8120 and is configured to rotate thedrive shaft 8120 when the input drive disc 8110 is rotated. The driveshaft 8120 is configured to rotate a pinion gear 8130 which is fixedlyattached to the drive shaft 8120. The pinion gear 8130 is operablymeshed with a rack gear portion 8142 of an articulation drive member8140 such that, as the pinion gear 8130 is rotated in a first rotationaldirection, the articulation drive member 8140 is configured to translatein a first translational direction. As the pinion gear 8130 is rotatedin a second rotational direction, the articulation drive member 8140 isconfigured to translate in a second translational direction. The secondrotational direction is opposite the first rotational direction.

Referring still to FIG. 38, the articulation drive member 8140 furthercomprises an actuator tab 8144 configured to translate an actuation yoke8150. Specifically, the actuator tab 8144 is configured to be receivedwithin an annular slot 8152 of the actuation yoke 8150 such that theactuation yoke 8150 can rotate about the longitudinal axis LA (FIG. 31)relative to the actuator tab 8144. Such rotation will occur when theshaft rotation drive system 7000, discussed above, is actuated. As shownin FIG. 51, the actuation yoke 8150 comprises an aperture 8154 definedtherein. The aperture 8154 is configured to receive a proximal end 2511of the articulation driver 2510 therein. The proximal end 2511 of thearticulation driver 2510 is attached to the actuation yoke 8150 suchthat, as the actuation yoke 8150 is translated by the articulation drivemember 8140, the articulation driver 2510 is translated. As thearticulation driver 2510 is translated, the end effector 2100 (FIG. 31)articulates as described above.

Referring to FIG. 50, the second articulation drive system 9000comprises an input drive disc 9110 operably coupled with the drive disc9100 (FIG. 32) of the sterile barrier 4100. The input drive disc 9110 isfixedly attached to a drive shaft 9120 and is configured to rotate thedrive shaft 9120 when the input drive disc 9110 is rotated. The driveshaft 9120 is configured to rotate a pinion gear 9130 which is fixedlyattached to the drive shaft 9120. The pinion gear 9130 is operablymeshed with a rack gear portion 9142 of an articulation drive member9140 such that, as the pinion gear 9130 is rotated in a first rotationaldirection, the articulation drive member 9140 is configured to translatein a first translational direction. As the pinon gear 9130 is rotated ina second rotational direction, the articulation drive member 9140 isconfigured to translate in a second translational direction. The secondrotational direction is opposite the first rotational direction.

Referring still to FIG. 50, the articulation drive member 9140 furthercomprises an actuator tab 9144 configured to translate an actuation yoke9150. Specifically, the actuator tab 9144 is configured to be receivedwithin an annular slot 9152 of the actuation yoke 9150 such that theactuation yoke 9150 can rotate about the longitudinal axis LA (FIG. 31)relative to the actuator tab 9144. Such rotation will occur when theshaft rotation drive system 7000, discussed above, is actuated. As shownin FIG. 38, the actuation yoke 9150 comprises an aperture 9154 definedtherein. The aperture 9154 is configured to receive a proximal end 2531of the articulation driver 2530 therein. The proximal end 2531 of thearticulation driver 2530 is attached to the actuation yoke 8150 suchthat, as the actuation yoke 9150 is translated by the articulation drivemember 9140, the articulation driver 2530 is translated. As thearticulation driver 2530 is translated, the end effector 2100 (FIG. 31)articulates as described above.

Referring to FIG. 41, the actuation yoke 8150 comprises a pair of shaftprotrusion sections 8156 and the actuation yoke 9150 comprises a shaftprotrusion sections 9156. The shaft protrusion sections 8156 areconfigured to be received within slots 9158 of the actuation yoke 9150.Similarly, the shaft protrusion sections 9156 are configured to bereceived within slots 8158 of the actuation yoke 8150. The shaftprotrusion sections 8156, 9156 are configured to provide a nestedsupport system for the actuation yokes 8150, 9150. The actuation yokes8150, 9150 are configured to rotate together in the same direction andtranslate longitudinally relative to each other in different directions.

The actuation of the articulation drive systems 8000, 9000 will now bediscussed in connection with FIGS. 45-49. To articulate the end effector2100, the drive discs 8100, 9100 are actuated in the same rotationaldirection. Actuation of both drive discs 8100, 9100 in the samerotational direction provides the antagonistic actuation of thearticulation drivers 2530, 2510 as discussed above. As shown in FIG. 48,the articulation driver 2510 is pushed in a distal direction DD and thearticulation driver 2530 is pulled in a proximal direction PD toarticulate the end effector 2100 in a first direction. To achieve thismotion, the articulation drive disc 8100 and the articulation drive disc9100 are rotated in the CW direction (FIG. 45). As shown in FIG. 49, thearticulation driver 2510 is pulled in a proximal direction PD and thearticulation driver 2530 is pushed in a distal direction DD toarticulate the end effector 2100 in a second direction. The seconddirection is opposite the first direction. To achieve this motion, thearticulation drive disc 8100 and the articulation drive disc 9100 arerotated in the CCW direction (FIG. 46).

Referring again to FIG. 31, the closure drive system 10000 is configuredto clamp and unclamp tissue with the end effector 2100. The closuredrive system 10000 is configured to translate a closure tube 6100relative to the spine 6700 (FIG. 36) to move the anvil jaw 2200 (FIG.52) between open and closed positions. Referring primarily to FIGS. 38and 50, the closure drive system 10000 comprises two input drive discs10110. Each input drive disc 10110 is operably coupled with one of thedrive discs 10100 (FIG. 32) of the sterile barrier 4100. Each inputdrive disc 10110 is attached to and configured to rotate a drive shaft10120. Each drive shaft 10120 comprises a spur gear 10130 fixedlyattached thereto, wherein both spur gears 10130 are operably meshed witha primary drive gear 10140. As a result, the closure drive system 10000is driven by two input drive discs 10100. Referring to FIG. 40, theprimary drive gear 10140 is mounted to a shaft projection 5140 of alower housing 5100 such that the primary drive gear 10140 is rotatableabout the shaft projection 5140. Although two input drives are used inthis instance, embodiments are envisioned where only one input drive isused.

As shown in FIGS. 53-59, the primary drive gear 10140 comprises acentral recess 10142 configured to receive the shaft projection 5140therein. The shaft projection 5140 and the central recess 10142 define ashaft axis about which the primary drive gear 10140 can rotate. Theprimary drive gear 10140 further comprises a spiral cam slot 10144 (FIG.54) configured to cam and translate a pin 10152 (FIGS. 55-57) extendingfrom a closure body 10150. FIG. 55 illustrates the pin 10152 abutting afirst end wall 10145 of the spiral cam slot 10144. In this position, theend effector 2100 (FIG. 2) is in a fully open configuration. As theprimary drive gear 10140 is rotated in the direction 10147, the pin10152 is cammed by the primary drive gear 10140 and translatedlongitudinally relative to the primary drive gear 10140. The pin 10152and, thus, the closure body 10150 (FIG. 54), is configured to translatea full closure stroke distance 10148. After a full rotation of the drivegear 10140, FIG. 57 illustrates the pin 10152 abutting a second end10146 of the spiral cam slot 10144 at the end of the closure stroke. Inthis position, the end effector 2100 (FIG. 31) is in a fully clampedconfiguration.

To translate the closure tube 6100 (FIG. 31), the closure drive system10000 comprises a first yoke 10160 pivotably coupled to the closure body10150 by a pin 10191, a second yoke 10170 (FIG. 36) pivotably coupled tothe first yoke 10160 by a pin 10192, and a closure tube shuttle 10180comprising a tab 10182 which is pivotably coupled to the second yoke10170 by a pin 10193. The closure tube shuttle 10180 is coupled to theclosure tube 6100 via a shaft coupler 10190 (FIG. 36). The shaft coupler10190 is positioned within a slot 6102 (FIG. 44) defined in the closuretube 6100 and a slot 10184 (FIG. 76) defined in the closure tube shuttle10180 (FIG. 76). Thus, when the closure body 10150 translatesproximally, the closure tube shuttle 10180 translates the closure tube6100 proximally to open the end effector 2100. When the closure body10150 is translated distally, the closure tube shuttle 10180 translatesthe closure tube 6100 distally to close the end effector 2100.

Referring again to FIG. 31, the firing drive system 11000 is configuredto advance and retract the firing bar 2610 (FIG. 41) of the shaftassembly 6000. Referring to FIG. 50, the firing drive system 11000comprises an input drive disc 11110 operably coupled with the drive disc11100 (FIG. 32). The input drive disc 11110 is attached to andconfigured to rotate a drive shaft 11120. The drive shaft 11120 isconfigured to rotate a spur gear 11130 which is attached to the driveshaft 11120. The spur gear 11130 is operably meshed with a spur gear11140 which is attached to another drive shaft 11142. The spur gear11140 is operably meshed with a spur gear 11150 which is attached toanother drive shaft 11152. Finally, the spur gear 11150 is operablymeshed with an output pinion gear 11160 which is attached to anotherdrive shaft 11162. The output pinion gear 11160 is operably meshed witha rack gear portion 11210 of a firing member 11200. Referring now toFIG. 35, a distal end 11202 of the firing member 11200 is coupled with aproximal end 6202 of a firing bar 6200 such that the firing bar 6200 canbe rotated relative to the firing member 11200. Such rotation of thefiring bar 6200 accommodates the rotation needed by the shaft rotationdrive system 7000. The firing member 11200 is configured to translatethe firing bar 6200 in a first translation direction when the drive disc11100 is rotated in a first rotational direction. Similarly, the firingmember 11200 is configured to translate the firing bar 6200 in a secondtranslational direction when the drive disc 11100 is rotated in a secondrotational direction. The second translational direction is opposite thefirst translational direction. Referring now to FIG. 41, the firing bar6200 comprises a distal end 6204 defining an aperture 6205 therein. Theattachment tab 2614 of the proximal end 2616 of the firing bar 2610 ispositioned within the aperture 6205 such that the firing bar 6200 canpush and/or pull the firing bar 6210.

Referring now primarily to FIGS. 60-63, the control assembly 5000further comprises a firing drive lock system 10400 configured to preventthe firing bar 6200 (FIG. 35) from being actuated when the end effector2100 (FIG. 31) is in its unclamped configuration. More specifically, thefiring drive lock system 10400 prevents the drive shaft 11120 (FIG. 50)from rotating when the closure body 10150 is in an unclamped position.The firing drive lock system 10400 comprises a firing rod lock link10410 and a lock 10420. A distal end 10412 of the firing rod lock link10410 is pivotably coupled to a laterally-extending tab 10158 of theclosure body 10150. The firing rod lock link 10410 extends proximallytoward the firing drive system 11000. The lock 10420 is pivotablycoupled to a proximal end 10414 of the firing rod lock link 10410 by apin 10424 and also to any one or more of the housings 5100, 5200, and5300 of the control assembly 5000 by a pin 10422. Such an arrangementallows the firing rod lock link 10410 to pivot the lock 10420 about thepin 10422 as the closure body 10150 translates.

The lock 10420 further comprises a lock tooth 10426 configured to engagea gear 11340. Referring back to FIG. 50, the gear 11340 is fixedlyattached to a shaft 11330. Another gear 11320 is also fixedly attachedto the shaft 11330. Referring to FIG. 64, the gear 11320 is operablymeshed with a gear 11310 which is fixedly attached to the drive shaft11120. The gear 11340 is operably meshed with a gear 11350 which is alsofixedly attached to the drive shaft 11120. As a result, preventing thegear 11340 from rotating prevents the rotation of the drive shaft 11120and the actuation of the firing rod 6200 (FIG. 35).

FIGS. 60 and 62 illustrate the closure body 10150 in a position wherethe end effector 2100 (FIG. 31) is in an unclamped configuration. Inthis position, the closure body 10150 has pivoted the lock tooth 10426into locking engagement with the gear 11340 to prevent the firing driveshaft 11120 from rotating. Preventing the firing drive shaft 11120 fromrotating while the instrument is unclamped prevents premature movementof the firing rod 6200 (FIG. 35). Moving the end effector 2100 into aclamped configuration unlocks the firing drive. FIGS. 61 and 63illustrate the closure body 10150 in a position where the end effector2100 is in a clamped configuration. The closure body 10150 movesdistally from its position in FIGS. 60 and 62 when the end effector 2100is clamped. Distal movement of the closure body 10150 causes the firingrod lock link 10410 to pivot the lock 10420 away from the gear 11340 todisengage the lock tooth 10426 from the gear 11340 thereby permittingrotation of the gear 11340. In this position, the gears 11320, 11340 arepermitted to rotate freely and, as a result, the firing drive shaft11120 may rotate to actuate the firing rod 6200.

Referring now primarily to FIGS. 65-69, the control assembly 5000 (FIG.30) further comprises a dual closure and firing lock system 10500configured to prevent the firing member 2610 (FIG. 41) from beingadvanced before the end effector 2100 (FIG. 31) is in a fully clampedconfiguration. More specifically, the dual closure and firing locksystem 10500 is configured to prevent the firing bar 6200 (FIG. 35) frombeing advanced before the closure tube 6100 (FIG. 35) is in its fullydistal position, or sufficiently distal position. Moreover, once thefiring bar 6200 is advanced, the dual closure and firing lock system10500 is configured to prevent the closure tube 6100 from being actuatedbefore the firing bar 6200 is fully retracted back to its unfiredposition.

As shown in FIG. 65, the dual lock system 10500 comprises a lock pawl10510 pivotably coupled to the spine 6700. The lock pawl 10510 ispositioned within a spine cavity 6750 defined in the spine 6700. Thelock pawl 10510 comprises a distal portion 10516 which is pivotablycoupled to the spine 6700 by a pin 10520. As shown in FIG. 66, the lockpawl 10510 further comprises a closure tube lock protrusion 10512, afiring rod lock protrusion 10514, and a key portion 10517. FIG. 67illustrates the closure tube 6100 in an unclamped position and the lockpawl 10510 in a configuration that prevents the firing rod 6200 frombeing advanced prior to the closure tube 6100 being moved distally tofully clamp the end effector 2100 (FIG. 31) as described above. In thisposition, a distal edge 6152 of an aperture 6150 defined in the closuretube 6100 abuts the key portion 10517. Also, in this position, thefiring rod lock protrusion 10514 abuts a ledge 6212 defined in thefiring rod 6200. This abutment prevents the firing rod 6200 from beingadvanced distally.

To lift the firing rod lock protrusion 10514 away from the ledge 6212 sothat the ledge 6212 may clear the firing rod lock protrusion 10514, theclosure tube 6100 is distally advanced to fully clamp the end effector2100. This distal movement of the closure tube 6100 causes a proximaledge 6151 of the aperture 6150 to engage the key portion 10517. In suchinstances, the proximal edge 6151 rotates the lock pawl 10510 into theposition illustrated in FIG. 68. When the lock pawl 10510 is rotatedinto this position, the closure tube lock protrusion 10512 is receivedwithin another aperture 6153 defined in the closure tube 6100. As can beseen in FIGS. 67-69, the aperture 6153 is proximal to the aperture 6150.Once the lock pawl 10510 rotates into the position illustrated in FIG.68, the firing rod lock protrusion 10514 is clear of the ledge 6212 andthe firing rod 6200 can be advanced through a staple-firing stroke.

FIG. 69 illustrates the firing rod 6200 in a partially advanced state.Once the ledge 6212 advances past the firing rod lock protrusion 10514,the lock pawl 10510 is unable to be rotated as it is held in position bythe firing rod 6200. Moreover, as a result, the closure tube lockprotrusion 10512 resides within the aperture 6153 for the duration ofthe firing stroke. As a result, the closure tube 6100 is unable to beactuated during the staple-firing stroke of the firing rod 6200. Oncethe firing rod 6200 is fully retracted back into the positionillustrated in FIG. 67, the lock pawl 10510 can rotate back into lockingengagement with the firing bar 6200 to prevent the firing bar 6200 frombeing actuated again. In various instances, a spring can be used to biasthe lock pawl 10510 back into this position. In other instances, thelock pawl 10510 may require a preliminary proximal motion of the closuretube 6100 to rotate the lock pawl 10510 into engagement with the firingrod 6200. In either event, the closure tube 6100 can then be retractedto open the end effector 2100.

The surgical instrument assembly 4000 (FIG. 31) further comprises amanually-operated firing bailout system 11400. Referring primarily toFIGS. 50 and 71, the firing bailout system 11400 is configured toretract the firing member 2610 in the event that the firing drive system11000 becomes inoperable. For example, when the load on the firingmember 2610 and the firing drive system 11000 exceeds a threshold load,the surgical robot to which the surgical instrument assembly 4000 isattached may not be able to provide enough torque to the input drivedisc 11110 to overcome the load. In such an instance, the clinician canuse the firing bailout system 11400 to manually retract the firingmember 2610. Such manual retraction of the firing member 2610 alsopermits the jaws of the end effector 2100 to be opened, especially ininstances where the firing member 2610 comprises an I-beam configurationwhich locks the jaws of the end effector 2100 together.

Referring to FIGS. 50, 51, and 71, the firing bailout system 11400comprises a retraction lever 11410, a cam lobe 11420, a pin 11430, and aratchet portion 11440. The retraction lever 11410 is accessible througha user-removable window 5420 of the upper housing 5200 (FIG. 40). Theretraction lever 11410 and the cam lobe 11420 are pivotably coupled tothe inner housing 5300 by way of the pin 11430. The retraction lever11410 is configured to rotate the cam lobe 11420 about the pin 11430 topush on a cam plate 11432. The cam plate 11432 is positioned on top ofthe pinion gear 11160 of the firing drive system 11000, which isdiscussed above. When the cam plate 11432 is pushed downwardly, thepinion gear 11160 is pushed out of engagement with the rack gear portion11210 such that the pinion gear 11160 can not translate the firingmember 11200. Notably, the pinion gear 11160, absent the firing bailoutsystem 11400, is biased into engagement with the firing member 11200 bya spring 11164.

During a retraction stroke of the retraction lever 11410, the retractionlever 11410 is configured to position the ratchet portion 11440 inengagement with an array of teeth 11220 defined in the top of the firingmember 11200. The ratchet portion 11440 is pivotably coupled to theretraction lever 11410 about an axis 11441 which is off-center withrespect to the pin 11430. A distal end 11445 of the ratchet portion11440 is connected to the retraction lever 11410 via a spring 11450. Thespring 11450 encourages a proximal end 11443 of the ratchet portion11440 to rotate downwardly toward the teeth 11220. To prevent prematureengagement between the teeth 11444 of the ratchet portion 11440 and theteeth 11220 of the firing member 11200, a ledge 5340 is positioned inthe housing 5300 above the firing member 11200. The proximal end 11443of the ratchet portion 11440 sits on top of and pushes down on the ledge5340 until the proximal end 11443 is moved distally by the rotation ofthe lever 11410 enough to clear the ledge 5340. Once the proximal end11443 clears the ledge 5340, the spring 11450 encourages the ratchetportion 11440 to rotate relative to the ratchet lever 11410 about theaxis 11441. Such rotation causes the teeth 11444 to meshingly engage towith teeth 11220.

Further actuation of the retraction lever 11410 drives the ratchetportion 11440 proximally which, in turn, pulls the firing member 11200proximally. In various instances, a single stroke of the lever 11410 issufficient to fully retract the firing member 11200. In some instances,more than one stroke of the lever 11410 is needed to fully retract thefiring member 11200. In such instances, the retraction lever 11410 ispushed downwardly to reset the lever 11410 such that the lever 11410 canbe activated once again. As the lever 11410 is reset, the teeth 11444slide distally across the top of the teeth 11220 without driving thefiring member 11200. At this point, the ratchet portion 11440 re-engagesthe teeth 11220 of the firing member 11200 and performing an additionalretraction stroke of the retraction lever 11410 will pull the firingmember 11200 further proximally. The user is able to perform as manyretraction strokes as necessary to fully retract the firing member 2610.

Referring to FIGS. 72-77, the surgical instrument assembly 4000 furthercomprises a manually-actuatable closure override system 10300. Asdiscussed further below, the closure override system 10300 can open thejaws of the end effector 2100. The closure override system 10300 can beused when the surgical instrument assembly 4000 is operably coupled witha surgical robot and/or when the surgical instrument assembly 4000 isnot coupled with a surgical robot. Referring to FIGS. 37 and 50, theclosure override system 10300 comprises, among other things, a lever10301 and a lock 10310. To use the closure override system 10300, theclinician must unlock the lock 10310 by sliding the lock 10310 laterallyoutward with respect to the override lever 10301. The lock 10310comprises a pin 10311 extending therefrom which is received within arecess 10303 defined in the lever 10301. Once the pin 10311 is pulledout of the recess 10303, the lever 10301 can be rotated out of itsunactuated position.

Referring primarily to FIG. 73, the override lever 10301 is pivotablycoupled to the upper housing 5200 (FIG. 40) by a pin 10195 and isconfigured to utilize components of the closure drive system 10000 to,independent of the closure body 10150, actuate the closure tube 6100.The override lever 10301 comprises pin projections 10194 extendingtherefrom. The pin projections 10194 are positioned within a pair ofslots 10162 defined in the first yoke 10160 of the closure drive system10000. When the lever 10301 is pulled upwardly into the positionillustrated in FIG. 73, the pin projections 10194 move from the proximalends 10163 of the slots 10162 toward the distal ends 10164 of the slots10162. When the pins 10194 contact the sidewalls of the slots 10162, thelever 10301 can pull the first yoke 10160 upwardly and cause the firstyoke 10160 to rotate about the pin 10191. Such rotation of the firstyoke 10160 causes the first yoke 10160 to pull the second yoke 10170upwardly causing the second yoke 10170 to rotate about the pin 10193.Collectively, this rotation of the first yoke 10160 and the second yoke10170 pulls the closure tube shuttle 10180 and the closure tube 6100(FIG. 35) proximally. In this instance, the closure tube shuttle 10180is moved independently of the closure body 10150. As discussed above,the proximal movement of the closure tube shuttle 10180 and the closuretube 6100 allows the jaws of the end effector 2100 to be opened. FIG. 74illustrates the lever 10301 in a fully actuated position where the pinprojections 10194 abut the distal ends 10164 of the slots 10162 and theclosure tube shuttle 10180 and, thus, the closure tube 6100, areretracted into their proximal-most positions.

Turning now to FIGS. 75-77, the closure tube 6100 and the closure tubeshuttle 10180 are configured to be actuated by either the closure drivesystem 10000 or the closure override system 10300. FIG. 76 is across-sectional view of FIG. 75 and illustrates the closure tube 6100and the closure tube shuttle 10180 in a retracted position caused by theclosure override system 10300. As can be seen from FIG. 76, the shaftcoupler 10190 couples the closure tube 6100 and the closure tube shuttle10180 such that the movement of the closure tube shuttle 10180, eitherproximally or distally, is transferred to the closure tube 6100.

As illustrated in FIG. 36, the spine 6700 of the shaft assembly 6000 isnested within the housings 5100, 5200, and 5300. The spine 6700 of theshaft assembly 6000, which is rotatably supported within the housings5100, 5200, and 5300 (FIG. 40), extends through the closure tube 6100.The firing rod 6200, which is translatable relative to the spine 6700,extends through the spine 6700.

FIG. 77 is a cross-sectional view of FIG. 75 and illustrates the closuretube 6100 and the closure tube shuttle 10180 in an unactuated position.As discussed above, the rotation of the gears 10130, in oppositedirections, rotates the primary drive gear 10140. The rotation of theprimary drive gear 10140 translates the closure body 10150 proximally ordistally owing to the spiral cam slot 10144 (FIGS. 55-57) defined in theprimary drive gear 10140 and the pin 10152 which extends from theclosure body 10150 into the spiral cam slot 10144. As can be seen fromFIG. 77, the translation of the closure body 10150 in the proximaldirection translates the closure tube 6100 and the closure tube shuttle10180 proximally and the translation of the closure body 10150 in thedistal direction translates the closure tube 6100 and the closure tubeshuttle 10180 distally.

Referring primarily to FIG. 70, the surgical instrument assembly 4000further comprises a secondary closure drive actuator 10600 which isaccessible to a user on the exterior of the control assembly 5000. Thesecondary closure drive actuator 10600 allows a clinician to manuallydrive the closure drive system 10000 when the surgical instrumentassembly 4000 is not attached to a surgical robot, for example. Thesecondary closure drive actuator 10600 is positioned on the upperhousing 5200 and comprises a knob 10610 removably attached to theclosure drive shaft 10120 (FIG. 72). The knob 10610 is removablyattached to the closure drive shaft 10120 by way of a driving tabextending from the knob 10610 and receiving slot 10126 defined in theclosure drive shaft 10120 configured to receive the driving tab therein.The secondary closure drive actuator 10600 rotates with closure driveshaft 10120 when the closure drive system 10000 is operated by thesurgical robot. In an alternative embodiment, the second closure driveactuator 10600 is configured to remain stationary relative to theclosure drive shaft 10120 by way of slip joint until a clinician choosesto rotate the closure drive shaft 10120 with the secondary closure driveactuator 10600. Such an arrangement can eliminate unnecessary motion ofthe knob 10610 when the closure drive system 10000 is operated by thesurgical robot. The secondary closure drive actuator 10600 can beparticularly useful to a clinician when the surgical instrument assembly4000 is not attached to a surgical robot. Having the capability to openand close the jaws of an end effector via the secondary closure driveactuator 10600 may eliminate the need to place inadvertent stress oninternal components when opening and closing the jaws of an end effectorby grabbing the jaws themselves. A clinician is able to fully clamp andfully unclamp the jaws of an end effector with the secondary closuredrive actuator 10600.

Referring primarily to FIG. 70, the knob 10610 is configured to beremovably couplable to the control assembly 5000. In the event that aclinician wants to manually open the jaws when the instrument is stillattached to a surgical robot, the clinician can rotate the knob 10610 inan attempt to open the end effector 2100 prior to resorting to theclosure override system 10300. In the illustrated embodiment, the lever10301 of the closure override system 10300 is positioned beneath theknob 10610. Thus, the knob 10610 may need to be removed prior toactuation of the closure override system 10300. In certain instances,the lever 10301 may automatically lift and decouple the knob 10610 fromthe housing 5200 of the control assembly 5000. The above being said, aclinician can also actuate the knob 10610 and/or the closure overridesystem 10300 when the surgical instrument assembly 4000 is detached fromthe surgical robot. In such an instance, a clinician is able to open theend effector 2100 and install a new staple cartridge, for example.

As discussed above, the surgical instrument assembly 4000 comprises twoclosure drive inputs. These two closure drive inputs can be used tomonitor the position of the rotatable jaw of the end effector bydiffering the gear ratios between each input drive gear 10130 and theprimary drive gear 10140. Differing the gear ratios between the inputgears and the primary drive gear requires the input gears to be rotateddifferent amounts to drive the primary drive gear a given amount ofrotation. Thus, the difference in the amount of rotation between the twoinput gears defines the amount of rotation of the primary drive gear.The amount of rotation of the primary drive gear directly corresponds tothe position of the rotatable jaw. As a result, the difference in theamount of rotation between the two input gears is monitored by thesurgical robot to identify the position of the rotatable jaw. Discussedin detail below, the closure drive systems 12100, 12200 illustrated inFIGS. 78-81 utilize dissimilar drive input arrangements and can be usedwith the surgical instrument assembly 4000 to monitor the angle at whichthe rotatable jaw of the end effector is rotated. The differing gearratio systems discussed above can also be adapted for use with any ofthe other drive systems of the surgical instrument assembly 4000 tomonitor their respective outputs. For example, a firing drive system canuse two drive inputs having two different gear ratios with a commondrive output to monitor the position of the firing member.

Further to the above, the closure drive systems 12100, 12200 can be usedto determine the angle at which the rotatable jaw is rotated the instantthe surgical instrument assembly is attached to the surgical robot. Toachieve this, the surgical robot monitors its drive discs duringattachment. The drive discs of the surgical robot can start at a home,or reference, position and, during the attachment of the controlassembly 5000 to the robot, the robot can rotate its drive discs toalign the drive discs of the surgical robot with the drive discs of thesurgical instrument assembly. During this alignment phase, the surgicalrobot monitors the amount of rotation that its drive discs undergo todetermine the position of the corresponding drive discs of the surgicalinstrument assembly. The surgical robot and/or surgical robot interfacecan contain encoders to monitor the position of its drive discs. Oncethe positions of the drive discs of the surgical instrument assembly areidentified, the surgical robot can evaluate the difference in the amountof rotation between the drive discs and, thus, determine the angle atwhich the rotatable jaw of the end effector is rotated.

FIGS. 78 and 79 depict a closure drive system 12100. In accordance withat least one alternative embodiment, the closure drive system 12100comprises two different drive input arrangements which can separately orsimultaneously drive a spiral cam gear 12140. The closure drive system12100 comprises a first input gear 12110 comprising a first number ofteeth and a second input gear 12120 comprising a second number of teeth.The first number of teeth and second number of teeth are different. Bothgears 12110, 12120 are operably meshed with the spiral cam gear 12140.The first input gear 12110 is directly meshed with spiral cam gear 12140while the second input gear 12120 is meshed with the spiral cam gear12140 via a double-sided rack gear 12130. The double-sided rack gear12130 is provided to maintain equal center-to-center distances betweenthe input gears 12110, 12120 and the spiral cam gear 12140. Thecenter-to-center distances are defined between the center of the inputgears 12110, 12120 and the center of the spiral cam gear 12140, asillustrated in FIG. 78. Such an arrangement allows the closure drivesystem 12100 to have two different gear ratios between the first inputgear 12110 and the spiral cam gear 12140 and the second input gear 12120and the spiral cam gear 12140. The spiral cam gear 12140 comprises aspiral cam slot 12142 configured to engage a closure body, such as theclosure body 10150 (FIG. 75), for example, to move the closure body10150 proximally and distally. In various instances, the rack gear 12130is flexible to curl within the housings such as housings 5100, 5200, and5300 (FIG. 40).

FIGS. 80 and 81 depict a closure drive system 12200 comprising twodifferent drive input arrangements which can separately orsimultaneously drive a primary drive gear 12240. The closure drivesystem 12200 comprises a first input gear 12210 comprising a firstnumber of input teeth and a second input gear 12220 comprising a secondnumber of input teeth. The first number of input the teeth and secondnumber of input teeth are different. The first input gear 12210 isoperably meshed with a secondary drive gear 12230. The second input gear12220 is operably meshed with the primary drive gear 12240. The primarydrive gear 12240 comprises a first number of drive teeth and thesecondary drive gear 12230 comprises a second number of drive teethwhich is different than the first number of drive teeth. In someinstances, the first number of drive teeth and the second number ofdrive teeth are the same. In either event, the first input gear 12210and the secondary drive gear 12230 comprise a first gear ratio and thesecond input gear 12220 and the primary drive gear 12240 comprise asecond gear ratio which is different than the first gear ratio.

The primary drive gear 12240 and the secondary drive gear 12230 share acommon drive axis. As a result, the closure drive system 12200 comprisestwo separate and different gear ratios which share the common driveaxis. The spiral cam gear 12240 comprises a spiral cam slot 12242configured to engage a closure body, such as the closure body 10150(FIG. 75), for example, to move the closure body proximally anddistally.

As discussed above, the different gear ratios between the drive inputsand the primary drive output results in different amounts of inputrotation to a common output rotation. This relationship is illustratedin the graph 12300 seen in FIG. 82. To drive a primary drive gear, suchas the primary drive gear 12140, for example, a given amount ofrotation, the amount of rotation of the first input gear is differentthan the amount of rotation of the second input gear. As discussedabove, differing the amount of rotation required by the input gears12110 and 12120 to rotate the primary drive gear 12140 a certain amountresults in a difference in the amount of rotation between the two inputgears 12110, 12120.

The difference in the amount of rotation between the two input gearscorresponds to a defined amount of rotation of the primary drive gear,such as the primary drive gear 12140, for example. This relationship canbe seen in the graph 12310 seen in FIG. 83 and can be used to verify, orevaluate, the amount in which the primary drive gear 12140 has beenrotated, as discussed in greater detail below. The amount of outputrotation of the primary drive gear 12140 is then used to obtain datafrom a lookup table. The lookup table relates a range of calculatedrotation differences corresponding to the input gears to a range ofamounts of outputs of rotation. The lookup table also relates the rangeof calculated rotation differences corresponding to the input gears tothe angle at which the rotatable jaw of the end effector is rotated.

The output angles of rotation of the primary drive gears 12140, 12240directly correspond to the position of the closure tube 6100. Moreover,the position of the closure tube 6100 reveals the angle at which therotatable jaw of the end effector 2100 is rotated. This directrelationship between the output angle of rotation of the primary drivegear and the angle of the rotatable jaw is also contained within thelookup table. Thus, the instant the surgical instrument assembly isattached to the surgical robot, the surgical robot can determine whetherthe end effector 2100 is clamped, unclamped, partially clamped, and byhow much. The surgical robot can then determine how much to adjust theposition of the rotatable jaw, if necessary, for the next step in thesurgical procedure. The surgical robot can determine that the endeffector 2100 is not fully clamped and that the end effector 2100 needsto be fully clamped to insert the end effector 2100 through a trocar,for example. The surgical robot can also evaluate how much the rotatablejaw needs to be rotated and in what direction to move it to a fullyclamped or fully unclamped position. In certain instances, the surgicalrobot can determine to fully unclamp the rotatable jaw to allow aclinician to insert a staple cartridge into the end effector 2100 and/orto ensure the end effector 2100 is ready for insertion into the trocar.For example, a clinician may replace a staple cartridge positionedwithin the end effector 2100 in such an instance.

Further to the above, the gear ratios between the input drive gears andthe primary drive gear do not have to be significantly different. Infact, maintaining similar, but still different, ratios can prevent theinput gears from creating large differences in rotation inputs which, insome instances, can confuse the robot controller, especially when theinput gears make more than one full revolution during a closure stroke.In such an instance, a single difference angle of rotation maycorrespond to two different end effector configurations where therotatable jaw is angled at two different angles. Maintaining similar,but different, ratios will increase the amount of unique differenceangles of rotation that corresponds to a set of unique jaw angles.

When a surgical instrument assembly, such as the surgical instrumentassembly 4000, is not operably coupled to a surgical robot interface ofa surgical robot, one of the methods for opening and closing the jaws ofthe end effector may comprise opening and closing the jaws manually. Forexample, a clinician may pinch the jaws closed to insert the endeffector 2100 (FIG. 30) into a trocar prior to attaching the surgicalinstrument assembly to a surgical robot. Closing the jaws manually insuch a manner causes the closure tube and, thus, the closure tubeshuttle 10180, to move distally. A closure drive system 13000illustrated in FIGS. 84-86 can the back-driving of the closure drivediscs when the jaws are closed manually, as discussed in greater detailbelow.

The closure drive assembly 13000 comprises various components of theclosure drive system 10000 of the surgical instrument assembly 4000 ofFIG. 30. The closure drive assembly 13000 further comprises a housingportion 13100 and a torsional spring 13110 mounted to a projection 13108of the housing portion 13100. Referring to FIG. 86, the housing portion13100 also comprises an aperture 13102 defined therein comprising aproximal end 13104 and a distal end 13106. The spring 13110 isconfigured to bias the primary drive gear 10140′ and, thus, the mountingprojection 10141′ extending therefrom, toward the proximal end 13104 ofthe aperture 13102. The biasing force applied by the torsional spring13110 counteracts reaction loads applied by tissue through the closuretube 6100 urging the primary drive gear 10140′ distally. When theprimary drive gear 10140′ is in the proximal position illustrated inFIGS. 84-86, the input drive gears 10130 driven by the input drive discs10110′ and attached to the drive shafts 10120 are operably meshed withthe primary drive gear 10140′ such that the input drive gears 10130rotate the primary drive gear 10140′ when rotated by the drive discs10110′.

When pinching the jaws closed, the closure tube shuttle 10180 will pullthe closure body distally and, instead of rotating the primary drivegear 10140′ with the pin 10152 extending from the closure body into thecam slot 10142′, the closure body and the primary drive gear 10140′overcome the spring force applied by the torsional spring 13110 and movedistally. This distal movement causes the primary drive gear 10140′ todisengage from the gears 10130 and causes the pin 10141′ to movedistally within the aperture 13102 toward the distal end 13106 of theaperture 13102. When the surgical instrument assembly 4000 is detachedfrom the surgical robot, the closure drive system 13000 providessufficient flexibility to permit a clinician to pull the end effectorout through a trocar in the event that an operator of the surgical robotdid not clamp the jaws prior to removal.

Many of the surgical instrument systems described herein are motivatedby an electric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example. In certain instances, the motorsdisclosed herein may comprise a portion or portions of a roboticallycontrolled system. Moreover, any of the end effectors and/or toolassemblies disclosed herein can be utilized with a robotic surgicalinstrument system. U.S. patent application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, disclosesseveral examples of a robotic surgical instrument system in greaterdetail.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

EXAMPLES Example 1

A surgical instrument comprising a shaft. The shaft comprises a proximalend, a distal end, and a longitudinal axis extending between theproximal end and the distal end. The surgical instrument furthercomprises an end effector comprising an end effector frame rotatablycoupled to the shaft about an articulation pivot, wherein thearticulation pivot defines a fixed articulation axis, and wherein thefixed articulation axis is positioned laterally offset with respect tothe longitudinal axis, a first articulation driver selectively movablebetween a first neutral position, a first distal position, and a firstproximal position in response to corresponding first articulationcontrol motions applied thereto, and a first articulation link operablycoupled to the first articulation driver, the first articulation linkextending transverse to the longitudinal axis and coupled to the endeffector frame at a first attachment location. The surgical instrumentfurther comprises a second articulation driver selectively movablebetween a second neutral position, a second distal position, and asecond proximal position in response to corresponding secondarticulation control motions applied thereto and a second articulationlink operably coupled to the second articulation driver and extendingtransverse to the longitudinal axis and the first articulation link tobe coupled to the end effector frame at a second attachment location.

Example 2

The surgical instrument of Example 1, wherein when the firstarticulation driver is moved from the first neutral position to thefirst distal position, the second articulation driver is moved to thesecond proximal position to rotate the end effector to a first fullyarticulated position about the articulation pivot and when the secondarticulation driver is moved from the second neutral position to thesecond distal position, the first articulation driver is moved to thefirst proximal position to rotate the end effector to a second fullyarticulated position about the articulation pivot.

Example 3

The surgical instrument of Examples 1 or 2, wherein when the firstarticulation driver is in the first neutral position and the secondarticulation driver is in the second neutral position, the end effectoris axially aligned with the longitudinal axis in an unarticulatedposition.

Example 4

The surgical instrument of Examples 1, 2, or 3, wherein the firstneutral position and the first distal position define a first distalarticulation stroke of the first articulation driver, the first neutralposition and the first proximal position define a first proximalarticulation stroke of the first articulation driver, the second neutralposition and the second distal position define a second distalarticulation stroke of the second articulation driver, the secondneutral position and the second proximal position define a secondproximal articulation stroke of the second articulation driver, and thefirst distal articulation stroke is not equal to the second distalarticulation stroke.

Example 5

The surgical instrument of Example 4, wherein the first distalarticulation stroke is less than the second distal articulation stroke.

Example 6

The surgical instrument of Examples 4 or 5, wherein the first proximalarticulation stroke is not equal to the second proximal articulationstroke.

Example 7

The surgical instrument of Examples 4, 5, or 6, wherein the firstproximal articulation stroke is greater than the second proximalarticulation stroke.

Example 8

The surgical instrument of Examples 1, 2, 3, 4, 5, 6, or 7, wherein thefirst articulation link comprises a first link length and wherein thesecond articulation link comprises a second link length that differsfrom the first link length.

Example 9

The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or 8, whereinthe first attachment location is offset from the longitudinal axis afirst offset distance, and wherein the second attachment location isoffset from the longitudinal axis a second offset distance that differsfrom the first offset distance.

Example 10

The surgical instrument of Example 9, wherein the first offset distanceis greater than the second offset distance.

Example 11

The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10,wherein the first articulation link is pivotally attached to the firstarticulation driver at a first link attachment location, wherein thesecond articulation link is pivotally attached to the secondarticulation driver at a second link attachment location, and whereinwhen the first articulation driver is in the first neutral position andthe second articulation driver is in the second neutral position, thefirst link attachment location is axially offset from the second linkattachment location.

Example 12

The surgical instrument of Example 11, wherein the first link attachmentlocation is laterally offset from the longitudinal axis a first lateraldistance, and wherein the second link attachment location is laterallyoffset from the longitudinal axis a second lateral distance that differsfrom the first lateral distance.

Example 13

The surgical instrument of Example 12, wherein the second lateraldistance is less than the first lateral distance.

Example 14

A surgical instrument comprising a controller comprising a source offirst articulation control motions, a source of second articulationcontrol motions, and a source of firing control motions. The surgicalinstrument further comprises a surgical tool operably couplable to thecontroller, wherein the surgical tool comprises a shaft comprising aproximal end, a distal end, and a longitudinal axis extending betweenthe proximal end and the distal end. The surgical tool further comprisesan end effector comprising an end effector frame rotatably coupled tothe shaft about an articulation pivot, wherein the articulation pivotdefines a fixed articulation axis, and wherein the fixed articulationaxis is positioned laterally offset with respect to the longitudinalaxis, a first articulation driver selectively movable between a firstneutral position, a first distal position, and a first proximal positionin response to corresponding first articulation control motions appliedthereto by the source of first articulation control motions, and a firstarticulation link operably coupled to the first articulation driver, thefirst articulation link extending transverse to the longitudinal axisand coupled to the end effector frame at a first attachment location.The surgical tool further comprises a second articulation driverselectively movable between a second neutral position, a second distalposition, and a second proximal position in response to correspondingsecond articulation control motions applied thereto by the source ofsecond articulation control motions, a second articulation link operablycoupled to the second articulation driver and extending transverse tothe longitudinal axis and the first articulation link to be coupled tothe end effector frame at a second attachment location, and a firingmember supported for selective axial travel between a starting andending position within the end effector in response to firing controlmotions applied thereto by the source of firing control motions, whereinthe source of the first articulation control motions applies an amountof the first articulation control motions to the first articulationdriver that correspond to a desired articulated position of the endeffector, and wherein the source of the second articulation controlmotions applies another amount of the second articulation controlmotions to the second articulation driver that correspond to the desiredarticulated position while the firing control motions are applied to thefiring member.

Example 15

The surgical instrument of Example 14, wherein the controller comprisesa handheld housing.

Example 16

The surgical instrument of Examples 14 or 15, wherein the controllercomprises a tool mounting portion of a robotic system.

Example 17

The surgical instrument of Examples 14, 15, or 16, wherein the endeffector further comprises a staple cartridge including staplesremovably stored therein.

Example 18

A surgical instrument comprising a shaft comprising a proximal end, adistal end, and a longitudinal axis extending between the proximal endand the distal end. The surgical instrument further comprises an endeffector comprising an end effector frame rotatably coupled to the shaftabout an articulation pivot, wherein the articulation pivot defines afixed articulation axis, and wherein the fixed articulation axis ispositioned laterally offset with respect to the longitudinal axis, afirst articulation driver selectively movable through a first distalarticulation stroke between a first neutral position and a first distalposition and a first proximal articulation stroke between the firstneutral position and a first proximal position in response tocorresponding first articulation control motions applied thereto, thefirst articulation driver operably coupled to the end effector frame ata first attachment location located on an opposite side of thelongitudinal axis from which the first articulation driver is movablysupported, and a second articulation driver selectively movable througha second distal articulation stroke between a second neutral positionand a second distal position and a second proximal articulation strokebetween the second neutral position and a second proximal position inresponse to corresponding second articulation control motions appliedthereto, the second articulation driver operably coupled to the endeffector frame at a second attachment location located on anotheropposite side of the longitudinal axis from which the secondarticulation driver is movably supported, and wherein the first distalarticulation stroke comprises a first length that differs from a secondlength of the second distal articulation stroke.

Example 19

The surgical instrument of Example 18, wherein the first proximalarticulation stroke is not equal to the second proximal articulationstroke.

Example 20

The surgical instrument of Examples 18 or 19, wherein the firstarticulation driver is coupled to the end effector frame by a firstarticulation link comprising a first link length and extendingtransversely to the longitudinal axis, and wherein the secondarticulation driver is coupled to the end effector frame by a secondarticulation link comprising a second link length that differs from thefirst link length and extending transversely relative to thelongitudinal axis and the first articulation link.

Example 21

A surgical tool configured to interchangeably operably interface with ahandheld controller and a tool holder of a robotic system. The surgicaltool comprises a shaft comprising a proximal end and a distal end, anend effector operably coupled to the distal end of the shaft, aplurality of movable drive members operably supported by the shaft andconfigured to apply control motions to corresponding portions of the endeffector, each movable drive member comprising a proximal couplerportion, and a docking housing coupled to the proximal end of the shaft,the docking housing configured to be interchangeably attachable toeither one of the handheld controller and the tool holder, the dockinghousing operably supporting the proximal coupler portion of each movabledrive member in a corresponding neutral coupling position to enable eachproximal coupler portion to operably interface with a correspondingdrive system of the handheld controller and the tool holder of therobotic system when the docking housing is attached thereto.

Example 22

The surgical tool of Example 21, wherein the plurality of movable drivemembers comprises a first axially movable drive member comprising afirst proximal coupler portion, a second axially movable drive membercomprising a second proximal coupler portion, a third axially movabledrive member comprising a third proximal coupler portion, and a fourthaxially movable drive member comprising a fourth proximal couplerportion.

Example 23

The surgical tool of Example 22, wherein the docking housing operablysupports the first proximal coupler portion in a first neutral couplingposition, the second proximal coupler portion in a second neutralcoupling position, the third proximal coupler portion in a third neutralcoupler position, and the fourth proximal coupler portion in a fourthneutral coupler position, wherein the first neutral coupling position,the second neutral coupling position, the third neutral couplingposition, and the fourth neutral coupler position are spaced in apredetermined serial axial alignment by the docking housing.

Example 24

The surgical tool of Example 23, wherein the docking housing comprises alock member movable between a locked position where the lock memberretains the first proximal coupler portion in the first neutral couplingposition, the second proximal coupler portion in the second neutralcoupler position, the third proximal coupler portion in the thirdneutral coupler position, and the fourth proximal coupler portion in thefourth neutral coupler position when the surgical tool is detached fromeither one of the handheld controller and the tool holder of the roboticsystem and an unlocked position when the docking housing is operablyattached to either one of the handheld controller and the tool holder ofthe robotic system to thereby permit axial movement of the firstproximal coupler portion, the second proximal coupler portion, the thirdproximal coupler portion, and the fourth proximal coupler portion.

Example 25

The surgical tool of Example 24, wherein the lock member is biased intothe locked position when the docking housing is detached from either ofthe handheld controller and tool holder and automatically moves to theunlocked position when the docking housing is operably coupled to eitherof the handheld housing and the tool holder.

Example 26

The surgical tool of Examples 21, 22, 23, 24, or 25, wherein each of thehandheld controller and the robotic system comprise a source ofelectrical power and wherein the docking housing is configured tofacilitate transmission of the electrical power to the surgical toolwhen the docking housing is operably coupled to either one of thehandheld controller and the tool holder of the robotic system.

Example 27

The surgical tool of Examples 21, 22, 23, 24, 25, or 26, wherein each ofthe handheld controller and the tool holder defines an actuation axis,and wherein the docking housing is interchangeably operably couplable toeither of the handheld controller and the tool holder in an installationdirection that is orthogonal to the actuation axis.

Example 28

The surgical tool of Examples 21, 22, 23, 24, 25, 26, or 27, wherein thehandheld controller comprises a handle housing, wherein the tool holdercomprises a tool holder housing, and wherein the docking housing isconfigured to be releasably interchangeably attachable to either of thehandle housing and the tool holder housing.

Example 29

The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27, or 28, furthercomprising a longitudinal axis between the proximal end and the distalend, wherein the shaft and the plurality of movable drive members aresupported by the docking housing to facilitate rotation of the endeffector about the longitudinal axis when the docking housing isoperably attached to either of the handheld controller and the toolholder.

Example 30

The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27, 28, or 29,wherein the end effector is configured to cut and staple tissue.

Example 31

A surgical tool configured to operably interface with either of ahandheld controller and a tool holder of a robotic system. The surgicaltool comprises a shaft comprising a proximal end and a distal end, anend effector rotatably coupled to the shaft about an articulation pivot,and an articulation driver arrangement operably supported by the shaftand coupled to the end effector for articulating the end effector aboutthe articulation pivot, the articulation driver arrangement comprising aproximal articulation coupler arrangement. The surgical tool furthercomprises a firing member supported for selective axial travel between astarting and ending position within the end effector, a firing driversupported by the shaft and configured to move the firing member betweenthe starting and ending position, the firing driver comprising aproximal firing coupler, and a docking housing coupled to the proximalend of the shaft and configured to be interchangeably operably attachedto either of the handheld controller and the tool holder, the dockinghousing supporting the proximal articulation coupler arrangement in aneutral articulation coupler position oriented to operably interfacewith articulation control systems of the handheld controller and thetool holder of the robotic system and the proximal firing coupler in aneutral firing coupler position oriented to operably interface withfiring control systems of the handled controller and the tool holder ofthe robotic system when the docking housing is operably attachedthereto.

Example 32

The surgical tool of Example 31, wherein the articulation driverarrangement further comprises a first axially movable articulationdriver and a second axially movable articulation driver. The proximalarticulation coupler arrangement comprises a first articulation coupleron a first proximal end of the first articulation driver and configuredto operably interface with a first articulation control system of eitherof the handheld controller and the tool holder and a second articulationcoupler on a second proximal end of the second articulation driver andconfigured to operably interface with a second articulation controlsystem of either of the handheld controller and the tool holder.

Example 33

The surgical tool of Example 32, wherein when the first articulationdriver moves in a first direction, the second articulation driver movesin a second direction that is opposite the first direction.

Example 34

The surgical tool of Examples 31, 32, or 33 wherein the end effectorcomprises a first jaw rotatably coupled to the shaft about thearticulation pivot and a second jaw movably supported relative to thefirst jaw, wherein the surgical tool further comprises a closureassembly supported by the shaft and configured to selectively move atleast one of the first and second jaws between open and closedpositions, the closure assembly comprising a proximal closure couplerthat is supported by the docking housing in a neutral closure couplerposition oriented to operably interface with a closure control system ineither of the handheld controller and the tool holder.

Example 35

The surgical tool of Example 34, wherein one of the first and secondjaws is configured to operably support a staple cartridge includingstaples removably stored therein.

Example 36

The surgical tool of Examples 31, 32, 33, 34, or 35, further comprisinga longitudinal axis between the proximal end and distal end of theshaft, wherein the shaft and the articulation driver arrangement and thefiring driver are supported by the docking housing to facilitaterotation of the end effector about the longitudinal axis when thedocking housing is operably attached to either of the handheldcontroller and the tool holder.

Example 37

The surgical tool of Examples 31, 32, 33, 34, 35, or 36, wherein thedocking housing operably supports the proximal articulation couplerarrangement in a neutral articulation coupling position and the proximalfiring coupler in a neutral firing coupling position, and wherein theneutral firing coupling position, the neutral articulation couplingposition, and the neutral closure coupling position are spaced in apredetermined serial axial alignment by the docking housing.

Example 38

The surgical tool of Example 37, wherein the docking housing comprises alock member movable between a locked position where the lock memberretains the proximal firing coupler in the neutral firing couplingposition, the proximal articulation coupler arrangement in the neutralarticulation coupling position, and the proximal closure coupler in theneutral closure coupler position when the surgical tool is detached fromeither one of the handheld controller and the tool holder of the roboticsystem and an unlocked position when the docking housing is operablyattached to either one of the handheld controller and the tool holder ofthe robotic system to thereby permit axial movement of the proximalfiring coupler, the proximal articulation coupler arrangement, and theproximal closure coupler.

Example 39

A surgical tool configured to interchangeably operably interface witheither of a handheld controller and a tool holder of a robotic system.The surgical tool comprises a shaft comprising a proximal end and adistal end, an end effector operably coupled to the distal end of theshaft, a plurality of axially movable drive members operably supportedby the shaft and configured to apply axial control motions tocorresponding portions of the end effector, each axially movable drivemember comprising a proximal coupler portion, and a docking meanscoupled to the proximal end of the shaft for interchangeably couplingthe surgical tool to either one of the handheld controller and the toolholder of the robotic system and operably supporting the proximalcoupler portion of each movable drive member in a corresponding neutralcoupling position to enable each proximal coupler portion to operablyinterface with a corresponding drive system of the handheld controllerand the tool holder of the robotic system when the docking means isattached thereto.

Example 40

The surgical tool of Example 39, wherein the end effector is configuredto cut and staple tissue.

Example 41

A surgical instrument assembly comprising an end effector, comprising astaple cartridge comprising a plurality of staples removably storedtherein, an anvil, a first jaw, and a second jaw movable relative to thefirst jaw. The surgical instrument assembly further comprises a shaftassembly comprising a distal end, wherein the end effector extends fromthe distal end, a closure member configured to move the second jawrelative to the first jaw, and a firing member configured to eject thestaples from the staple cartridge. The surgical instrument assemblyfurther comprises a closure drive system configured to actuate theclosure member through a closure stroke, wherein the closure strokecomprises a proximal closure stroke position where the second jaw is inan unclamped configuration and a distal closure stroke position wherethe second jaw is in a clamped configuration, a firing drive systemconfigured to actuate the firing member through a firing stroke, whereinthe firing stroke comprises a proximal firing stroke position where noneof the staples have been ejected from the staple cartridge and a distalfiring stroke position where all of the staples have been ejected fromthe staple cartridge and a dual lock engaged with the closure member andthe firing member, wherein the dual lock is configured to prevent thefiring member from being advanced distally from the proximal firingstroke position before the closure member is in the distal closurestroke position, and wherein the dual lock is configured to prevent theclosure member from being retracted from the distal closure strokeposition before the firing member is returned to the proximal firingstroke position after the firing stroke.

Example 42

The surgical instrument assembly of Example 41, further comprising aspine portion, wherein the dual lock is rotatably coupled to the spineportion.

Example 43

The surgical instrument assembly of Examples 41 or 42, wherein theclosure member comprises a first aperture configured to receive a firstportion of the dual lock and a second aperture configured to receive asecond portion of the dual lock, and wherein the firing member isunlocked when the second portion of the dual lock is received within thesecond aperture.

Example 44

The surgical instrument assembly of Example 43, wherein the firstaperture comprises a proximal aperture edge and a distal aperture edge,and wherein the firing member is unlocked when the first portion of thedual lock is in contact with the proximal aperture edge.

Example 45

The surgical instrument assembly of Examples 41, 42, 43, or 44, whereinthe closure member comprises a first aperture configured to receive afirst portion of the dual lock and a second aperture configured toreceive a second portion of the dual lock, wherein the first aperturecomprises a proximal aperture edge and a distal aperture edge, andwherein the firing member comprises a ledge configured to engage thedual lock to prevent the firing member from being advanced from theproximal firing stroke position when the first portion of the dual lockis in contact with the distal aperture edge.

Example 46

The surgical instrument assembly of Examples 41, 42, 43, 44, or 45,wherein the closure member is configured to concurrently unlock thefiring member and lock the closure member when the closure member ismoved into the distal closure stroke position.

Example 47

The surgical instrument assembly of Examples 41, 42, 43, 44, 45, or 46,wherein the firing drive system comprises a rotary firing input, andwherein the surgical instrument assembly further comprises a firingdrive system lock configured to lock the rotary firing input when theclosure drive system moves the closure member into the proximal closurestroke position.

Example 48

The surgical instrument assembly of Examples 41, 42, 43, 44, 45, 46, or47, wherein the shaft assembly defines a longitudinal instrument axis,and wherein the dual lock comprises a lock pawl rotatable about a lockaxis which is transverse to the longitudinal instrument axis.

Example 49

The surgical instrument assembly of Examples 41, 42, 43, 44, 45, 46, 47,or 48, wherein the closure member and the firing member are movablerelative to the dual lock.

Example 50

A surgical instrument attachment configured to be attached to anddetached from a surgical robot. The surgical instrument attachmentcomprises an end effector comprising a staple cartridge comprising aplurality of staples removably stored therein, an anvil, a first jaw,and a second jaw movable relative to the first jaw. The surgicalinstrument attachment further comprises a shaft assembly comprising aframe, a distal end, wherein the end effector extends from the distalend, a closure member configured to move the second jaw relative to thefirst jaw, and a firing member configured to eject the staples from thestaple cartridge. The surgical instrument attachment further comprises aclosure drive system configured to actuate the closure member through aclosure stroke, wherein the closure stroke comprises a first closurestroke position where the second jaw is in an open configuration and asecond closure stroke position where the second jaw is in a closedconfiguration, a firing drive system configured to actuate the firingmember through a firing stroke, wherein the firing stroke comprises afirst firing stroke position where none of the staples have been ejectedfrom the staple cartridge and a second firing stroke position where allof the staples have been ejected from the staple cartridge and a lockingmechanism coupled to the frame, wherein the locking mechanism isconfigured to prevent the firing member from being advanced distallyfrom the first firing stroke position toward the second firing strokeposition before the closure member is in the second closure strokeposition, and wherein the locking mechanism is configured to prevent theclosure member from being retracted from the second closure strokeposition toward the first closure stroke position before the firingmember is returned to the first firing stroke position after the firingstroke.

Example 51

The surgical instrument attachment of Example 50, wherein the lockingmechanism is rotatably coupled to the frame.

Example 52

The surgical instrument attachment of Examples 50 or 51, wherein theclosure member comprises a first aperture configured to receive a firstportion of the locking mechanism and a second aperture configured toreceive a second portion of the locking mechanism, and wherein thefiring member is unlocked when the second portion of the lockingmechanism is received within the second aperture.

Example 53

The surgical instrument attachment of Example 52, wherein the firstaperture comprises a proximal aperture edge and a distal aperture edge,and wherein the firing member is unlocked when the first portion of thelocking mechanism is in contact with the proximal aperture edge.

Example 54

The surgical instrument attachment of Examples 50, 51, 52, or 53,wherein the closure member comprises a first aperture configured toreceive a first portion of the locking mechanism and a second apertureconfigured to receive a second portion of the locking mechanism, whereinthe first aperture comprises a proximal aperture edge and a distalaperture edge, and wherein the firing member comprises a ledgeconfigured to engage the locking mechanism to prevent the firing memberfrom being advanced from the first firing stroke position when the firstportion of the locking mechanism is in contact with the distal apertureedge.

Example 55

The surgical instrument attachment of Examples 50, 51, 52, 53, or 54,wherein the closure member is configured to concurrently unlock thefiring member and lock the closure member when the closure member ismoved into the second closure stroke position.

Example 56

The surgical instrument attachment of Examples 50, 51, 52, 53, 54, or55, wherein the firing drive system comprises a rotary firing input, andwherein the surgical instrument attachment further comprises a firingdrive system lock configured to lock the rotary firing input when theclosure drive system moves the closure member into the first closurestroke position.

Example 57

The surgical instrument attachment of Examples 50, 51, 52, 53, 54, 55,or 56, wherein the shaft assembly defines a longitudinal instrumentaxis, and wherein the locking mechanism comprises a lock pawl rotatableabout a lock axis which is transverse to the longitudinal instrumentaxis.

Example 58

The surgical instrument attachment of Examples 50, 51, 52, 53, 54, 55,56, or 57, wherein the closure member and the firing member are movablerelative to the locking mechanism.

Example 59

A surgical instrument assembly comprising an end effector comprising astaple cartridge comprising a plurality of staples removably storedtherein, a first jaw, and a second jaw movable relative to the firstjaw. The surgical instrument assembly further comprises a shaft assemblycomprising a closure member configured to move the second jaw relativeto the first jaw and a firing member configured to eject the staplesfrom the staple cartridge, a closure drive system configured to actuatethe closure member through a closure stroke, wherein the closure strokecomprises a proximal closure stroke position where the second jaw is inan unclamped configuration and a distal closure stroke position wherethe second jaw is in a clamped configuration, and a firing drive systemconfigured to actuate the firing member through a firing stroke, whereinthe firing stroke comprises a proximal firing stroke position where noneof the staples have been ejected from the staple cartridge and a distalfiring stroke position where all of the staples have been ejected fromthe staple cartridge. The surgical instrument assembly further comprisesmeans for automatically locking the firing member in the proximal firingstroke position until the closure member is moved into the distalclosure stroke position and for automatically locking the closure memberin the distal closure stroke position until the firing member isreturned to the proximal firing stroke position after the firing stroke.

Example 60

The surgical instrument assembly of Example 59, further comprising aspine portion, wherein the means comprises a lock pawl rotatably coupledto the spine portion.

Example 61

A surgical instrument assembly configured to be operably attached to anddetached from a surgical robot interface. The surgical instrumentassembly comprises a shaft assembly comprising an end effectorcomprising a staple cartridge, an anvil, a first jaw, and a second jawmovable relative to the first jaw between an unclamped configuration anda clamped configuration. The shaft assembly further comprises a distalend, wherein the end effector extends from the distal end of the shaftassembly, and a closure drive member configured to move the second jawrelative to the first jaw. The surgical instrument assembly furthercomprises a control assembly, wherein the shaft assembly is operablycoupled with the control assembly. The control assembly comprises ahousing, a closure drive system configured to actuate the closure drivemember, wherein the closure drive system comprises a rotary input driveconfigured to be driven by a rotary drive member of the surgical robotinterface when the surgical instrument assembly is operably attached tothe surgical robot interface, and an exterior closure drive actuatoroperably coupled to the input drive, wherein the exterior closure driveactuator is exterior to the housing, and wherein the exterior closuredrive actuator is configured to be actuated by a clinician to manuallyrotate the rotary input drive to move the second jaw between theunclamped configuration and the clamped configuration when the surgicalinstrument assembly is not operably attached to the surgical robotinterface.

Example 62

The surgical instrument assembly of Example 61, further comprising aclosure drive bailout operably coupled to the closure drive member,wherein the closure drive bailout is operable independently of therotary input drive.

Example 63

The surgical instrument assembly of Examples 61 or 62, wherein the endeffector further comprises a cutting member, wherein the shaft assemblyfurther comprises a firing drive member operably attached to the cuttingmember, and wherein the control assembly further comprises a firingdrive system configured to actuate the firing drive member.

Example 64

The surgical instrument assembly of Examples 61, 62, or 63, wherein thecontrol assembly further comprises a firing bailout configured to beactuated by a clinician to manually actuate the firing drive member.

Example 65

The surgical instrument assembly of Examples 61, 62, 63, or 64, whereinthe closure drive system further comprises a primary drive gearcomprising a spiral cam slot defined therein, and wherein the spiral camslot is engaged with the closure drive member such that rotation of theprimary drive gear by the rotary input drive is configured to translatethe closure drive member.

Example 66

The surgical instrument assembly of Example 65, wherein the rotary inputdrive comprises a first rotary input drive, wherein the first rotaryinput drive comprises a first rotary input drive gear meshed with theprimary drive gear, wherein the closure drive system further comprises asecond rotary input drive, wherein the second rotary input drivecomprises a second rotary input drive gear meshed with the primary drivegear, and wherein both the first rotary input drive and the secondrotary input drive are configured to rotate the primary drive gearsimultaneously.

Example 67

The surgical instrument assembly of Examples 65 or 66, wherein theprimary drive gear comprises a fixed axis of rotation and is mounted tothe housing.

Example 68

The surgical instrument assembly of Examples 61, 62, 63, 64, 65, 66, or67, further comprising a sterile adapter configured to transfer rotarydrive motions from the rotary drive member of the surgical robotinterface to the rotary input drive of the closure drive system.

Example 69

A surgical instrument assembly configured to be operably coupled to anddecoupled from a surgical robot. The surgical instrument assemblycomprises a shaft assembly comprising an end effector comprising astaple cartridge comprising a plurality staples removable storedtherein, an anvil, a first jaw, and a second jaw movable relative to thefirst jaw between an unclamped configuration and a clampedconfiguration. The shaft assembly further comprises a distal end,wherein the end effector is operably coupled with the distal end of theshaft assembly, a firing drive member configured to eject the staplesfrom the staple cartridge, and a closure drive member configured to movethe second jaw relative to the first jaw. The surgical instrumentassembly further comprises a control assembly, wherein the shaftassembly is operably coupled with the control assembly. The controlassembly comprises a housing comprising an external surface, a firingdrive system configured to actuate the firing drive member, a closuredrive system configured to actuate the closure drive member, wherein theclosure drive system comprises a primary rotary input drive configuredto be driven by a rotary drive actuator of the surgical robot when thesurgical instrument assembly is operably attached to the surgical robot,wherein the closure drive member translates longitudinally within theshaft assembly upon actuation of the primary rotary input drive, and asecondary closure drive actuator operably coupled to the primary rotaryinput drive, wherein the secondary closure drive actuator extendsthrough the external surface of the housing, wherein the secondaryclosure drive actuator is configured to be actuated by a clinician tomanually actuate the primary rotary input drive to move the second jawbetween the unclamped configuration and the clamped configuration whenthe surgical instrument assembly is not coupled to the surgical robot.

Example 70

The surgical instrument assembly of Example 69, further comprising aclosure drive bailout operably coupled to the closure drive member,wherein the closure drive bailout is operable independently of theprimary rotary input drive.

Example 71

The surgical instrument assembly of Examples 69 or 70, wherein the endeffector further comprises a cutting member, wherein the shaft assemblyfurther comprises a firing drive member operably attached to the cuttingmember, and wherein the control assembly further comprises a firingdrive system configured to actuate the firing drive member.

Example 72

The surgical instrument assembly of Examples 69, 70, or 71, wherein thecontrol assembly further comprises a firing bailout configured to beactuated by a clinician to manually actuate the firing drive member.

Example 73

The surgical instrument assembly of Examples 69, 70, 71, or 72, whereinthe closure drive system further comprises a primary drive gearcomprising a spiral cam slot defined therein, and wherein the spiral camslot is engaged with the closure drive member such that rotation of theprimary drive gear by the primary rotary input drive is configured totranslate the closure drive member.

Example 74

The surgical instrument assembly of Example 73, wherein the primaryrotary input drive comprises a first primary rotary input drive, whereinthe first primary rotary input drive comprises a first input drive gearmeshed with the primary drive gear, wherein the closure drive systemfurther comprises a second primary rotary input drive, wherein thesecond primary rotary input drive comprises a second input drive gearmeshed with the primary drive gear, and wherein both the first primaryrotary input drive and the second primary rotary input drive areconfigured to rotate the primary drive gear simultaneously.

Example 75

The surgical instrument assembly of Examples 73 or 74, wherein theprimary drive gear comprises a fixed axis of rotation and is mounted tothe housing.

Example 76

The surgical instrument assembly of Examples 69, 70, 71, 72, 73, 74, or75, further comprising a sterile adapter configured to transfer rotarydrive motions from the rotary drive actuator of the surgical robot tothe primary rotary input drive of the closure drive system.

Example 77

A surgical robot attachment configured to be attached to and detachedfrom a surgical robot. The surgical robot attachment comprises a shaftassembly comprising an end effector, wherein the end effector comprisesa closure mechanism and a movable jaw configured to moved between anunclamped configuration and a clamped configuration by the closuremechanism, and an attachment interface. The attachment interfacecomprises a housing, a first closure drive system comprising a roboticinput configured to be operably coupled with a corresponding drive ofthe surgical robot when the surgical robot attachment is attached to thesurgical robot, wherein the robotic input is configured to be driven bythe corresponding drive of the surgical robot to actuate the closuremechanism, and a second closure drive system comprising auser-accessible input distinct and separate from the robotic input, andwherein the user-accessible input is manually actuatable to actuate theclosure mechanism when the surgical robot attachment is not attached tothe surgical robot.

Example 78

The surgical robot attachment of Example 77, wherein the attachmentinterface further comprises a primary drive gear comprising a spiral camslot defined therein, and wherein the spiral cam slot is engaged withthe closure link such that rotation of the primary drive gear by thefirst closure drive system is configured to translate the closure link.

Example 79

The surgical robot attachment of Example 78, wherein the robotic inputcomprises a first robotic input, wherein the first robotic inputcomprises a first input drive gear meshed with the primary drive gear,wherein the attachment interface further comprises a second roboticinput, wherein the second robotic input comprises a second input drivegear meshed with the primary drive gear, and wherein both the firstrobotic input and the second robotic input are configured to rotate theprimary drive gear simultaneously.

Example 80

The surgical robot attachment of Examples 77, 78, or 79, furthercomprising a staple cartridge comprising a plurality of staplesremovably stored therein.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21,2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued onSep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec.16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FORA SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, nowU.S. Pat. No. 7,980,443;

U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICALCUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROLASSEMBLY, filed Dec. 24, 2009, now U.S. Pat. No. 8,220,688;

U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE,filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLINGINSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535;

U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012,now U.S. Pat. No. 9,101,358;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Pat.No. 9,345,481;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263552;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICALCUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM,filed Jan. 31, 2006; and

U.S. Patent Application Publication No. 2010/0264194, entitled SURGICALSTAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22,2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by referenceherein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical tool configured to interchangeablyoperably interface with a handheld controller and a tool holder of arobotic system, wherein said surgical tool comprises: a shaft comprisinga proximal end and a distal end; an end effector operably coupled tosaid distal end of said shaft; a plurality of movable drive membersoperably supported by said shaft and configured to apply control motionsto corresponding portions of said end effector, each said movable drivemember comprising a proximal coupler portion; and a docking housingcoupled to said proximal end of said shaft, wherein said docking housingcomprises a lock member, wherein said lock member comprises a first sidefacing said plurality of movable drive members, wherein said lock memberfurther comprises a plurality of locking detents defined in said firstside, said docking housing configured to be interchangeably attachableto either one of the handheld controller and the tool holder, saiddocking housing operably supporting said proximal coupler portion ofeach said movable drive member in a corresponding neutral couplingposition with said plurality of locking detents to enable each saidproximal coupler portion to operably interface with a correspondingdrive system of the handheld controller and the tool holder of therobotic system when said docking housing is attached thereto, whereinsaid lock member of said docking housing is configured to lock saidproximal coupler portion of each said movable drive member in saidcorresponding neutral coupling position when said lock member is in alocked position, wherein the attachment of said docking housing toeither one of the handheld controller and the tool holder of the roboticsystem unlocks said proximal coupler portion of each said movable drivemember by moving said lock member into an unlocked position, and whereinsaid corresponding neutral coupling positions of each said movable drivemember corresponds to an unactuated position of each said movable drivemember.
 2. The surgical tool of claim 1, wherein said plurality ofmovable drive members comprises: a first axially movable drive membercomprising a first proximal coupler portion; a second axially movabledrive member comprising a second proximal coupler portion; a thirdaxially movable drive member comprising a third proximal couplerportion; and a fourth axially movable drive member comprising a fourthproximal coupler portion.
 3. The surgical tool of claim 2, wherein saiddocking housing operably supports said first proximal coupler portion ina first neutral coupling position, said second proximal coupler portionin a second neutral coupling position, said third proximal couplerportion in a third neutral coupling position, and said fourth proximalcoupler portion in a fourth neutral coupling position, wherein saidfirst neutral coupling position, said second neutral coupling position,said third neutral coupling position, and said fourth neutral couplingposition are spaced in a predetermined serial axial alignment by saiddocking housing.
 4. The surgical tool of claim 3, wherein said lockmember is movable between said locked position where said lock memberretains said first proximal coupler portion in said first neutralcoupling position, said second proximal coupler portion in said secondneutral coupling position, said third proximal coupler portion in saidthird neutral coupling position, and said fourth proximal couplerportion in said fourth neutral coupling position when said surgical toolis detached from either one of the handheld controller and the toolholder of the robotic system and said unlocked position when saiddocking housing is operably attached to either one of the handheldcontroller and the tool holder of the robotic system to thereby permitaxial movement of said first proximal coupler portion, said secondproximal coupler portion, said third proximal coupler portion, and saidfourth proximal coupler portion.
 5. The surgical tool of claim 4,wherein said lock member is biased into said locked position when saiddocking housing is detached from either of the handheld controller andtool holder and automatically moves to said unlocked position when saiddocking housing is operably coupled to either of the handheld controllerand the tool holder.
 6. The surgical tool of claim 1, wherein each ofthe handheld controller and the robotic system comprise a source ofelectrical power and wherein said docking housing is configured tofacilitate transmission of the electrical power to the surgical toolwhen said docking housing is operably coupled to either one of thehandheld controller and the tool holder of the robotic system.
 7. Thesurgical tool of claim 1, wherein each of the handheld controller andthe tool holder defines an actuation axis, and wherein said dockinghousing is interchangeably operably couplable to either of the handheldcontroller and the tool holder in an installation direction that isorthogonal to the actuation axis.
 8. The surgical tool of claim 1,wherein the handheld controller comprises a handle housing, wherein thetool holder comprises a tool holder housing, and wherein said dockinghousing is configured to be releasably interchangeably attachable toeither of the handle housing and the tool holder housing.
 9. Thesurgical tool of claim 1, further comprising a longitudinal axisextending between said proximal end and said distal end, wherein saidshaft and said plurality of movable drive members are supported by saiddocking housing to facilitate rotation of said end effector about saidlongitudinal axis when said docking housing is operably attached toeither of the handheld controller and the tool holder.
 10. The surgicaltool of claim 1, wherein said end effector is configured to cut andstaple tissue.
 11. A surgical tool configured to operably interface witheither of a handheld controller and a tool holder of a robotic system,said surgical tool comprising: a shaft comprising a proximal end and adistal end; an end effector rotatably coupled to said shaft about anarticulation pivot; an articulation driver arrangement operablysupported by said shaft and coupled to said end effector forarticulating said end effector about said articulation pivot, saidarticulation driver arrangement comprising a proximal articulationcoupler arrangement; a firing member supported for selective axialtravel between a starting and ending position within said end effector;a firing driver supported by said shaft and configured to move saidfiring member between said starting and ending position, said firingdriver comprising a proximal firing coupler; and a docking housingcoupled to said proximal end of said shaft and configured to beinterchangeably operably attached to either of the handheld controllerand the tool holder, wherein said docking housing comprises a lockmember, wherein said lock member comprises a first side facing saidproximal articulation coupler arrangement and said proximal firingcoupler, wherein said lock member further comprises a plurality oflocking detents defined in said first side, said docking housingsupporting said proximal articulation coupler arrangement in a neutralarticulation coupler position with a first locking detent of saidplurality of locking detents oriented to operably interface witharticulation control systems of the handheld controller and the toolholder of the robotic system and said proximal firing coupler in aneutral firing coupler position with a second locking detent of saidplurality of locking detents oriented to operably interface with firingcontrol systems of the handheld controller and the tool holder of therobotic system when said docking housing is operably attached thereto,wherein said lock member of said docking housing is configured to locksaid proximal articulation coupler arrangement in said neutralarticulation coupler position and said proximal firing coupler in saidneutral firing coupler position when said lock member is in a lockedposition, wherein the attachment of said docking housing to either ofthe handheld controller and the tool holder of the robotic systemunlocks said proximal articulation coupler arrangement and said proximalfiring coupler by moving said lock member into an unlocked position,wherein said neutral articulation coupler position corresponds to anunactuated position of said proximal articulation coupler arrangement,and wherein said neutral firing coupler position corresponds to anunactuated position of said proximal firing coupler.
 12. The surgicaltool of claim 11, wherein said articulation driver arrangement furthercomprises: a first axially-movable articulation driver; and a secondaxially-movable articulation driver, wherein said proximal articulationcoupler arrangement comprises: a first articulation coupler on a firstproximal end of said first axially-movable articulation driver andconfigured to operably interface with a first articulation controlsystem of either of the handheld controller and the tool holder; and asecond articulation coupler on a second proximal end of said secondaxially-movable articulation driver and configured to operably interfacewith a second articulation control system of either of the handheldcontroller and the tool holder.
 13. The surgical tool of claim 12,wherein when said first axially-movable articulation driver moves in afirst direction, said second axially-movable articulation driver movesin a second direction that is opposite said first direction.
 14. Thesurgical tool of claim 11, wherein said end effector comprises: a firstjaw rotatably coupled to said shaft about said articulation pivot; and asecond jaw movably supported relative to said first jaw, wherein saidsurgical tool further comprises a closure assembly supported by saidshaft and configured to selectively move at least one of said first andsecond jaws between open and closed positions, said closure assemblycomprising a proximal closure coupler that is supported by said dockinghousing in a neutral closure coupler position oriented to operablyinterface with a closure control system in either of the handheldcontroller and the tool holder.
 15. The surgical tool of claim 14,wherein one of said first and second jaws is configured to operablysupport a staple cartridge including staples removably stored therein.16. The surgical tool of claim 11, further comprising a longitudinalaxis extending between said proximal end and distal end of said shaft,wherein said shaft, said articulation driver arrangement, and saidfiring driver are supported by said docking housing to facilitaterotation of said end effector about said longitudinal axis when saiddocking housing is operably attached to either of the handheldcontroller and the tool holder.
 17. The surgical tool of claim 14,wherein said neutral firing coupler position, said neutral articulationcoupler position, and said neutral closure coupling position are spacedin a predetermined serial axial alignment by said docking housing. 18.The surgical tool of claim 17, wherein said lock member is movablebetween said locked position where said lock member retains saidproximal firing coupler in said neutral firing coupler position, saidproximal articulation coupler arrangement in said neutral articulationcoupler position, and said proximal closure coupler in said neutralclosure coupler position when the surgical tool is detached from eitherone of the handheld controller and the tool holder of the robotic systemand said unlocked position when said docking housing is operablyattached to either one of the handheld controller and the tool holder ofthe robotic system to thereby permit axial movement of said proximalfiring coupler, said proximal articulation coupler arrangement, and saidproximal closure coupler.
 19. A surgical tool configured tointerchangeably operably interface with either of a handheld controllerand a tool holder of a robotic system, said surgical tool comprising: ashaft comprising a proximal end and a distal end; an end effectoroperably coupled to said distal end of said shaft; a plurality ofaxially-movable drive members operably supported by said shaft andconfigured to apply axial control motions to corresponding portions ofsaid end effector, each said axially-movable drive member comprising aproximal coupler portion; and a docking means coupled to said proximalend of said shaft for interchangeably coupling said surgical tool toeither one of the handheld controller and the tool holder of the roboticsystem, wherein said docking means comprises a lock member, wherein saidlock member comprises a first side facing said plurality ofaxially-movable drive members, wherein said lock member furthercomprises a plurality of locking detents defined in said first side,said docking means operably supporting said proximal coupler portion ofeach said axially-movable drive member in a corresponding neutralcoupling position with said plurality of locking detents to enable eachsaid proximal coupler portion to operably interface with a correspondingdrive system of the handheld controller and the tool holder of therobotic system when said docking means is attached thereto, wherein saiddocking means is configured to lock said proximal coupler portion ofeach said axially-movable drive member in said corresponding neutralcoupling position when said lock member is in a locked position, whereinthe coupling of said surgical tool to either one of the handheldcontroller and the tool holder of the robotic system unlocks saidproximal coupler portion of each said axially-movable drive member bymoving said lock member into an unlocked position, and wherein saidcorresponding neutral coupling positions of each said axially-movabledrive member corresponds to an unactuated position of each saidaxially-movable drive member.
 20. The surgical tool of claim 19, whereinsaid end effector is configured to cut and staple tissue.